Cleaning up container ID handling inside kubelet

This touches a lot of stuff, so I'd appreciate a careful review & comments!

In  another PR, I'd like to improve the /containerInfo and /containerStats interface. I maintained the previous behavior of passing a manifest/pod id (which really ends up being a substring match in the mangled docker name!). This seems to fall short since a manifest/pod can container multiple containers.
The name dockerNameToManifestAndContainer bothers me, but I don't want to make it any longer (this is Go, not Java!).  What about simply "parseDockerName" ?