[SPARK-2393][SQL] Cost estimation optimization framework for Catalyst logical plans & sample usage.

The idea is that every Catalyst logical plan gets hold of a Statistics class, the usage of which provides useful estimations on various statistics. See the implementations of `MetastoreRelation`.

This patch also includes several usages of the estimation interface in the planner. For instance, we now use physical table sizes from the estimate interface to convert an equi-join to a broadcast join (when doing so is beneficial, as determined by a size threshold).

Finally, there are a couple minor accompanying changes including:
- Remove the not-in-use `BaseRelation`.
- Make SparkLogicalPlan take a `SQLContext` in the second param list.

Author: Zongheng Yang <zongheng.y@gmail.com>

Closes #1238 from concretevitamin/estimates and squashes the following commits:

329071d [Zongheng Yang] Address review comments; turn config name from string to field in SQLConf.
8663e84 [Zongheng Yang] Use BigInt for stat; for logical leaves, by default throw an exception.
2f2fb89 [Zongheng Yang] Fix statistics for SparkLogicalPlan.
9951305 [Zongheng Yang] Remove childrenStats.
16fc60a [Zongheng Yang] Avoid calling statistics on plans if auto join conversion is disabled.
8bd2816 [Zongheng Yang] Add a note on performance of statistics.
6e594b8 [Zongheng Yang] Get size info from metastore for MetastoreRelation.
01b7a3e [Zongheng Yang] Update scaladoc for a field and move it to @param section.
549061c [Zongheng Yang] Remove numTuples in Statistics for now.
729a8e2 [Zongheng Yang] Update docs to be more explicit.
573e644 [Zongheng Yang] Remove singleton SQLConf and move back `settings` to the trait.
2d99eb5 [Zongheng Yang] {Cleanup, use synchronized in, enrich} StatisticsSuite.
ca5b825 [Zongheng Yang] Inject SQLContext into SparkLogicalPlan, removing SQLConf mixin from it.
43d38a6 [Zongheng Yang] Revert optimization for BroadcastNestedLoopJoin (this fixes tests).
0ef9e5b [Zongheng Yang] Use multiplication instead of sum for default estimates.
4ef0d26 [Zongheng Yang] Make Statistics a case class.
3ba8f3e [Zongheng Yang] Add comment.
e5bcf5b [Zongheng Yang] Fix optimization conditions & update scala docs to explain.
7d9216a [Zongheng Yang] Apply estimation to planning ShuffleHashJoin & BroadcastNestedLoopJoin.
73cde01 [Zongheng Yang] Move SQLConf back. Assign default sizeInBytes to SparkLogicalPlan.
73412be [Zongheng Yang] Move SQLConf to Catalyst & add default val for sizeInBytes.
7a60ab7 [Zongheng Yang] s/Estimates/Statistics, s/cardinality/numTuples.
de3ae13 [Zongheng Yang] Add parquetAfter() properly in test.
dcff9bd [Zongheng Yang] Cleanups.
84301a4 [Zongheng Yang] Refactors.
5bf5586 [Zongheng Yang] Typo.
56a8e6e [Zongheng Yang] Prototype impl of estimations for Catalyst logical plans.
Merge branch 'master' of github.com:apache/spark into kill