Streaming KMeans [MLLIB][SPARK-3254]

This adds a Streaming KMeans algorithm to MLlib. It uses an update rule that generalizes the mini-batch KMeans update to incorporate a decay factor, which allows past data to be forgotten. The decay factor can be specified explicitly, or via a more intuitive "fractional decay" setting, in units of either data points or batches.

The PR includes:
- StreamingKMeans algorithm with decay factor settings
- Usage example
- Additions to documentation clustering page
- Unit tests of basic behavior and decay behaviors

@tdas @mengxr @rezazadeh
Usually, methods with name like `isAbc`do not throw an exception. Shall we rename it to `assertInitialized` and return `Unit`.