SPARK-1707. Remove unnecessary 3 second sleep in YarnClusterScheduler

Author: Sandy Ryza <sandy@cloudera.com>

Closes #634 from sryza/sandy-spark-1707 and squashes the following commits:

2f6e358 [Sandy Ryza] Default min registered executors ratio to .8 for YARN
354c630 [Sandy Ryza] Remove outdated comments
c744ef3 [Sandy Ryza] Take out waitForInitialAllocations
2a4329b [Sandy Ryza] SPARK-1707. Remove unnecessary 3 second sleep in YarnClusterScheduler