[SPARK-3218, SPARK-3219, SPARK-3261, SPARK-3424] MLLIB K-Means Clusterer

This commit introduces a general distance function trait, `PointOps`, for the Spark K-Means clusterer. There are no public API changes*.  

### Distance Function Trait

The `PointOps` trait defines the distance function.  The `PointOps` trait is more than a simple distance function.  It also defines the types of Points and Centers for the clusterer.  Standard MLLIB `Vector`s are converted into Points and Centers.  In the case of the `FastEuclideanOps` implementation of `PointOps`, the Point and Center types includes vector norm members. In other distance functions such as the [Kullback-Leibler distance function](http://en.wikipedia.org/wiki/Bregman_divergence), the Point and Center types include different values that speed up the distance calculation in a similar way that caching vector norms speeds up the Euclidean distance function.  This addresses SPARK-3219.

### Refactoring

To understand this original code, I found it useful to refactor the original implementation into components.  You may find it helpful to understand this pull request by looking at the new components and comparing them to their original implementation.  Unfortunately, GitHub diff does not help very much with this.

This commit splits up the clusterer into a number of components which behave (largely) like their predecessors. `KMeansParallel` implements the K-Means || initialization algorithm.  `KMeansRandom` implements the K-Means Random initialization algorithm.  `MultiKMeans` implements the K-Means algorithm on multiple sets of cluster centers using a given distance function.  Traits for the initializer, `KMeansInitializer`, and the general K-Means clusterer, `MultiKMeansClusterer`, are provided to highlight the salient interfaces with the intent that alternative implementations of these interfaces may be provided in the future.

### Performance

This pull request is not focused on performance. Nevertheless,  the performance of the KMeans++ implementation was *dramatically* improved by NOT recomputing distances to clusters centers that were present in previous steps.  This turns a quadratic implementation into a linear one. 

Second, the KMeans++ implementation uses the general K-Means clusterer in the final step.  This parallelizes a step that was sequential.

Together, these changes address SPARK-3424.

### Next Steps

This pull request does not introduce new user-visible changes.  The next step is to make different distance functions available through a user-visible API.   I will provide other distance functions after this pull request has been accepted. Then, we can decide on an appropriate user-level API to access those functions.

### Compatibility

While there are no user-level API changes, the behavior of the clusterer is *different* on some tests.  Specifically, the handling of empty clusters has changed.  Empty clusters are not filled with random points in this implementation.  The former behavior is undesirable for a number a reasons, not the least of which is that there is no reasonable use for duplicate cluster centers. To accommodate the change in behavior, the test cases were changed accordingly. This addresses SPARK-3261.

The private K-Means constructor which was used by some test Java code and one example was replaced with a Scala constructor that is not Java friendly.  Since the constructor was not user visible, I simply changed the Java test code and the example to use the higher level interface.

### Testing

This code has been tested (albeit while packaged outside of Spark) and performance measured on data sets of millions of features each with hundreds of dimensions and on tens of thousands of clusters.