[SPARK-2334] fix AttributeError when call PipelineRDD.id()

The underline JavaRDD for PipelineRDD is created lazily, it's delayed until call _jrdd.

The id of JavaRDD is cached as `_id`, it saves a RPC call in py4j for later calls.

closes #1276

Author: Davies Liu <davies.liu@gmail.com>

Closes #2296 from davies/id and squashes the following commits:

e197958 [Davies Liu] fix style
9721716 [Davies Liu] fix id of PipelineRDD