[SPARK-3158][MLLIB]Avoid 1 extra aggregation for DecisionTree training

Currently, the implementation does one unnecessary aggregation step. The aggregation step for level L (to choose splits) gives enough information to set the predictions of any leaf nodes at level L+1. We can use that info and skip the aggregation step for the last level of the tree (which only has leaf nodes).

### Implementation Details

Each node now has a `impurity` field and the `predict` is changed from type `Double` to type `Predict`(this can be used to compute predict probability in the future) When compute best splits for each node, we also compute impurity and predict for the child nodes, which is used to constructed newly allocated child nodes. So at level L, we have set impurity and predict for nodes at level L +1.
If level L+1 is the last level, then we can avoid aggregation. What's more, calculation of parent impurity in 


Top nodes for each tree needs to be treated differently because we have to compute impurity and predict for them first. In `binsToBestSplit`, if current node is top node(level == 0), we calculate impurity and predict first. 
after finding best split, top node's predict and impurity is set to the calculated value. Non-top nodes's impurity and predict are already calculated and don't need to be recalculated again. I have considered to add a initialization step to set top nodes' impurity and predict and then we can treat all nodes in the same way, but this will need a lot of duplication of code(all the code to do seq operation(BinSeqOp) needs to be duplicated), so I choose the current way.

 CC @mengxr @manishamde @jkbradley, please help me review this, thanks.
`val nodes = new Array[Node](numNodes)`