[SPARK-2365] Add IndexedRDD, an efficient updatable key-value store

This PR adds IndexedRDD, an efficient key-value store built on RDDs. IndexedRDD extends `RDD[(Long, V)]` by enforcing key uniqueness and pre-indexing the entries for efficient joins and point lookups, updates, and deletions. See [SPARK-2365](https://issues.apache.org/jira/browse/SPARK-2365) for the motivation behind IndexedRDD.

IndexedRDD is implemented by (1) hash-partitioning the entries by key, (2) maintaining a hash index within each partition, and (3) using purely functional (immutable and efficiently updatable) data structures to enable efficient modifications and deletions.

As a result, this PR also introduces package-private implementations of three purely functional data structures: ImmutableVector, ImmutableLongOpenHashSet, and ImmutableBitSet.

GraphX will be the first user of IndexedRDD. This PR uses IndexedRDD to replace the current implementation of VertexRDD.

Here is a usage example for IndexedRDD:

```scala
import org.apache.spark.rdd.IndexedRDD

// Create an RDD of key-value pairs with Long keys.
val rdd = sc.parallelize((1 to 1000000).map(x => (x.toLong, 0)))
// Construct an IndexedRDD from the pairs, hash-partitioning and indexing
// the entries.
val indexed = IndexedRDD(rdd).cache()

// Perform a point update.
val indexed2 = indexed.put(1234L, 10873).cache()
// Perform a point lookup. Note that the original IndexedRDD remains
// unmodified.
indexed2.get(1234L) // => Some(10873)
indexed.get(1234L) // => Some(0)

// Efficiently join derived IndexedRDD with original.
val indexed3 = indexed.innerJoin(indexed2) { (id, a, b) => b }.filter(_._2 != 0)
indexed3.collect // => Array((1234L, 10873))

// Perform insertions and deletions.
val indexed4 = indexed2.put(-100L, 111).delete(Array(998L, 999L)).cache()
indexed2.get(-100L) // => None
indexed4.get(-100L) // => Some(111)
indexed2.get(999L) // => Some(0)
indexed4.get(999L) // => None
```

Benchmark results on time and memory overhead, read/write scaling with partition size, and end-to-end impact on GraphX are forthcoming.
minor nit: add "s", same for the line above