[SPARK-1968][SQL] SQL/HiveQL command for caching/uncaching tables

JIRA issue: [SPARK-1968](https://issues.apache.org/jira/browse/SPARK-1968)

This PR added support for SQL/HiveQL command for caching/uncaching tables:

```
scala> sql("CACHE TABLE src")
...
res0: org.apache.spark.sql.SchemaRDD =
SchemaRDD[0] at RDD at SchemaRDD.scala:98
== Query Plan ==
CacheCommandPhysical src, true

scala> table("src")
...
res1: org.apache.spark.sql.SchemaRDD =
SchemaRDD[3] at RDD at SchemaRDD.scala:98
== Query Plan ==
InMemoryColumnarTableScan [key#0,value#1], (HiveTableScan [key#0,value#1], (MetastoreRelation default, src, None), None), false

scala> isCached("src")
res2: Boolean = true

scala> sql("CACHE TABLE src")
...
res3: org.apache.spark.sql.SchemaRDD =
SchemaRDD[4] at RDD at SchemaRDD.scala:98
== Query Plan ==
CacheCommandPhysical src, false

scala> table("src")
...
res4: org.apache.spark.sql.SchemaRDD =
SchemaRDD[11] at RDD at SchemaRDD.scala:98
== Query Plan ==
HiveTableScan [key#2,value#3], (MetastoreRelation default, src, None), None

scala> isCached("src")
res5: Boolean = false
```

Things also work for `hql`.

Author: Cheng Lian <lian.cs.zju@gmail.com>

Closes #1038 from liancheng/sqlCacheTable and squashes the following commits:

ecb7194 [Cheng Lian] Trimmed the SQL string before parsing special commands
6f4ce42 [Cheng Lian] Moved logical command classes to a separate file
3458a24 [Cheng Lian] Added comment for public API
f0ffacc [Cheng Lian] Added isCached() predicate
15ec6d2 [Cheng Lian] Added "(UN)CACHE TABLE" SQL/HiveQL statements
[SPARK-2091][MLLIB] use numpy.dot instead of ndarray.dot

`ndarray.dot` is not available in numpy 1.4. This PR makes pyspark/mllib compatible with numpy 1.4.

Author: Xiangrui Meng <meng@databricks.com>

Closes #1035 from mengxr/numpy-1.4 and squashes the following commits:

7ad2f0c [Xiangrui Meng] use numpy.dot instead of ndarray.dot