[SPARK-4192][SQL] Internal API for Python UDT

Following #2919, this PR adds Python UDT (for internal use only) with tests under "pyspark.tests". Before `SQLContext.applySchema`, we check whether we need to convert user-type instances into SQL recognizable data. In the current implementation, a Python UDT must be paired with a Scala UDT for serialization on the JVM side. A following PR will add VectorUDT in MLlib for both Scala and Python.

marmbrus jkbradley davies

Author: Xiangrui Meng <meng@databricks.com>

Closes #3068 from mengxr/SPARK-4192-sql and squashes the following commits:

acff637 [Xiangrui Meng] merge master
dba5ea7 [Xiangrui Meng] only use pyClass for Python UDT output sqlType as well
2c9d7e4 [Xiangrui Meng] move import to global setup; update needsConversion
7c4a6a9 [Xiangrui Meng] address comments
75223db [Xiangrui Meng] minor update
f740379 [Xiangrui Meng] remove UDT from default imports
e98d9d0 [Xiangrui Meng] fix py style
4e84fce [Xiangrui Meng] remove local hive tests and add more tests
39f19e0 [Xiangrui Meng] add tests
b7f666d [Xiangrui Meng] add Python UDT

(cherry picked from commit 04450d11548cfb25d4fb77d4a33e3a7cd4254183)
Signed-off-by: Xiangrui Meng <meng@databricks.com>