[SPARK-4439] [MLlib] add python api for random forest

```
    class RandomForestModel
     |  A model trained by RandomForest
     |
     |  numTrees(self)
     |      Get number of trees in forest.
     |
     |  predict(self, x)
     |      Predict values for a single data point or an RDD of points using the model trained.
     |
     |  toDebugString(self)
     |      Full model
     |
     |  totalNumNodes(self)
     |      Get total number of nodes, summed over all trees in the forest.
     |

    class RandomForest
     |  trainClassifier(cls, data, numClassesForClassification, categoricalFeaturesInfo, numTrees, featureSubsetStrategy='auto', impurity='gini', maxDepth=4, maxBins=32, seed=None):
     |      Method to train a decision tree model for binary or multiclass classification.
     |
     |      :param data: Training dataset: RDD of LabeledPoint.
     |                   Labels should take values {0, 1, ..., numClasses-1}.
     |      :param numClassesForClassification: number of classes for classification.
     |      :param categoricalFeaturesInfo: Map storing arity of categorical features.
     |                                  E.g., an entry (n -> k) indicates that feature n is categorical
     |                                  with k categories indexed from 0: {0, 1, ..., k-1}.
     |      :param numTrees: Number of trees in the random forest.
     |      :param featureSubsetStrategy: Number of features to consider for splits at each node.
     |                                Supported: "auto" (default), "all", "sqrt", "log2", "onethird".
     |                                If "auto" is set, this parameter is set based on numTrees:
     |                                  if numTrees == 1, set to "all";
     |                                  if numTrees > 1 (forest) set to "sqrt".
     |      :param impurity: Criterion used for information gain calculation.
     |                   Supported values: "gini" (recommended) or "entropy".
     |      :param maxDepth: Maximum depth of the tree. E.g., depth 0 means 1 leaf node; depth 1 means
     |                       1 internal node + 2 leaf nodes. (default: 4)
     |      :param maxBins: maximum number of bins used for splitting features (default: 100)
     |      :param seed:  Random seed for bootstrapping and choosing feature subsets.
     |      :return: RandomForestModel that can be used for prediction
     |
     |   trainRegressor(cls, data, categoricalFeaturesInfo, numTrees, featureSubsetStrategy='auto', impurity='variance', maxDepth=4, maxBins=32, seed=None):
     |      Method to train a decision tree model for regression.
     |
     |      :param data: Training dataset: RDD of LabeledPoint.
     |                   Labels are real numbers.
     |      :param categoricalFeaturesInfo: Map storing arity of categorical features.
     |                                   E.g., an entry (n -> k) indicates that feature n is categorical
     |                                   with k categories indexed from 0: {0, 1, ..., k-1}.
     |      :param numTrees: Number of trees in the random forest.
     |      :param featureSubsetStrategy: Number of features to consider for splits at each node.
     |                                 Supported: "auto" (default), "all", "sqrt", "log2", "onethird".
     |                                 If "auto" is set, this parameter is set based on numTrees:
     |                                 if numTrees == 1, set to "all";
     |                                 if numTrees > 1 (forest) set to "onethird".
     |      :param impurity: Criterion used for information gain calculation.
     |                       Supported values: "variance".
     |      :param maxDepth: Maximum depth of the tree. E.g., depth 0 means 1 leaf node; depth 1 means
     |                       1 internal node + 2 leaf nodes.(default: 4)
     |      :param maxBins: maximum number of bins used for splitting features (default: 100)
     |      :param seed:  Random seed for bootstrapping and choosing feature subsets.
     |      :return: RandomForestModel that can be used for prediction
     |
```

Author: Davies Liu <davies@databricks.com>

Closes #3320 from davies/forest and squashes the following commits:

8003dfc [Davies Liu] reorder
53cf510 [Davies Liu] fix docs
4ca593d [Davies Liu] fix docs
e0df852 [Davies Liu] fix docs
0431746 [Davies Liu] rebased
2b6f239 [Davies Liu] Merge branch 'master' of github.com:apache/spark into forest
885abee [Davies Liu] address comments
dae7fc0 [Davies Liu] address comments
89a000f [Davies Liu] fix docs
565d476 [Davies Liu] add python api for random forest

(cherry picked from commit 1c53a5db993193122bfa79574d2540149fe2cc08)
Signed-off-by: Xiangrui Meng <meng@databricks.com>
[SPARK-4513][SQL] Support relational operator '<=>' in Spark SQL

The relational operator '<=>' is not working in Spark SQL. Same works in Spark HiveQL

Author: ravipesala <ravindra.pesala@huawei.com>

Closes #3387 from ravipesala/<=> and squashes the following commits:

7198e90 [ravipesala] Supporting relational operator '<=>' in Spark SQL

(cherry picked from commit 98e9419784a9ad5096cfd563fa9a433786a90bd4)
Signed-off-by: Michael Armbrust <michael@databricks.com>
[SPARK-4318][SQL] Fix empty sum distinct.

Executing sum distinct for empty table throws `java.lang.UnsupportedOperationException: empty.reduceLeft`.

Author: Takuya UESHIN <ueshin@happy-camper.st>

Closes #3184 from ueshin/issues/SPARK-4318 and squashes the following commits:

8168c42 [Takuya UESHIN] Merge branch 'master' into issues/SPARK-4318
66fdb0a [Takuya UESHIN] Re-refine aggregate functions.
6186eb4 [Takuya UESHIN] Fix Sum of GeneratedAggregate.
d2975f6 [Takuya UESHIN] Refine Sum and Average of GeneratedAggregate.
1bba675 [Takuya UESHIN] Refine Sum, SumDistinct and Average functions.
917e533 [Takuya UESHIN] Use aggregate instead of groupBy().
1a5f874 [Takuya UESHIN] Add tests to be executed as non-partial aggregation.
a5a57d2 [Takuya UESHIN] Fix empty Average.
22799dc [Takuya UESHIN] Fix empty Sum and SumDistinct.
65b7dd2 [Takuya UESHIN] Fix empty sum distinct.

(cherry picked from commit 2c2e7a44db2ebe44121226f3eac924a0668b991a)
Signed-off-by: Michael Armbrust <michael@databricks.com>
[SPARK-2918] [SQL] Support the CTAS in EXPLAIN command

Hive supports the `explain` the CTAS, which was supported by Spark SQL previously, however, seems it was reverted after the code refactoring in HiveQL.

Author: Cheng Hao <hao.cheng@intel.com>

Closes #3357 from chenghao-intel/explain and squashes the following commits:

7aace63 [Cheng Hao] Support the CTAS in EXPLAIN command

(cherry picked from commit 6aa0fc9f4d95f09383cbcb5f79166c60697e6683)
Signed-off-by: Michael Armbrust <michael@databricks.com>
[SQL] fix function description mistake

Sample code in the description of SchemaRDD.where is not correct

Author: Jacky Li <jacky.likun@gmail.com>

Closes #3344 from jackylk/patch-6 and squashes the following commits:

62cd126 [Jacky Li] [SQL] fix function description mistake

(cherry picked from commit ad5f1f3ca240473261162c06ffc5aa70d15a5991)
Signed-off-by: Michael Armbrust <michael@databricks.com>
[SPARK-4477] [PySpark] remove numpy from RDDSampler

In RDDSampler, it try use numpy to gain better performance for possion(), but the number of call of random() is only (1+faction) * N in the pure python implementation of possion(), so there is no much performance gain from numpy.

numpy is not a dependent of pyspark, so it maybe introduce some problem, such as there is no numpy installed in slaves, but only installed master, as reported in SPARK-927.

It also complicate the code a lot, so we may should remove numpy from RDDSampler.

I also did some benchmark to verify that:
```
>>> from pyspark.mllib.random import RandomRDDs
>>> rdd = RandomRDDs.uniformRDD(sc, 1 << 20, 1).cache()
>>> rdd.count()  # cache it
>>> rdd.sample(True, 0.9).count()    # measure this line
```
the results:

|withReplacement      |  random  | numpy.random |
 ------- | ------------ |  -------
|True | 1.5 s|  1.4 s|
|False|  0.6 s | 0.8 s|

closes #2313

Note: this patch including some commits that not mirrored to github, it will be OK after it catches up.

Author: Davies Liu <davies@databricks.com>
Author: Xiangrui Meng <meng@databricks.com>

Closes #3351 from davies/numpy and squashes the following commits:

5c438d7 [Davies Liu] fix comment
c5b9252 [Davies Liu] Merge pull request #1 from mengxr/SPARK-4477
98eb31b [Xiangrui Meng] make poisson sampling slightly faster
ee17d78 [Davies Liu] remove = for float
13f7b05 [Davies Liu] Merge branch 'master' of http://git-wip-us.apache.org/repos/asf/spark into numpy
f583023 [Davies Liu] fix tests
51649f5 [Davies Liu] remove numpy in RDDSampler
78bf997 [Davies Liu] fix tests, do not use numpy in randomSplit, no performance gain
f5fdf63 [Davies Liu] fix bug with int in weights
4dfa2cd [Davies Liu] refactor
f866bcf [Davies Liu] remove unneeded change
c7a2007 [Davies Liu] switch to python implementation
95a48ac [Davies Liu] Merge branch 'master' of github.com:apache/spark into randomSplit
0d9b256 [Davies Liu] refactor
1715ee3 [Davies Liu] address comments
41fce54 [Davies Liu] randomSplit()

(cherry picked from commit d39f2e9c683a4ab78b29eb3c5668325bf8568e8c)
Signed-off-by: Xiangrui Meng <meng@databricks.com>
[SPARK-4244] [SQL] Support Hive Generic UDFs with constant object inspector parameters

Query `SELECT named_struct(lower("AA"), "12", lower("Bb"), "13") FROM src LIMIT 1` will throw exception, some of the Hive Generic UDF/UDAF requires the input object inspector is `ConstantObjectInspector`, however, we won't get that before the expression optimization executed. (Constant Folding).

This PR is a work around to fix this. (As ideally, the `output` of LogicalPlan should be identical before and after Optimization).

Author: Cheng Hao <hao.cheng@intel.com>

Closes #3109 from chenghao-intel/optimized and squashes the following commits:

487ff79 [Cheng Hao] rebase to the latest master & update the unittest

(cherry picked from commit 84d79ee9ec47465269f7b0a7971176da93c96f3f)
Signed-off-by: Michael Armbrust <michael@databricks.com>
[SPARK-4413][SQL] Parquet support through datasource API

Goals:
 - Support for accessing parquet using SQL but not requiring Hive (thus allowing support of parquet tables with decimal columns)
 - Support for folder based partitioning with automatic discovery of available partitions
 - Caching of file metadata

See scaladoc of `ParquetRelation2` for more details.

Author: Michael Armbrust <michael@databricks.com>

Closes #3269 from marmbrus/newParquet and squashes the following commits:

1dd75f1 [Michael Armbrust] Pass all paths for FileInputFormat at once.
645768b [Michael Armbrust] Review comments.
abd8e2f [Michael Armbrust] Alternative implementation of parquet based on the datasources API.
938019e [Michael Armbrust] Add an experimental interface to data sources that exposes catalyst expressions.
e9d2641 [Michael Armbrust] logging / formatting improvements.

(cherry picked from commit 02ec058efe24348cdd3691b55942e6f0ef138732)
Signed-off-by: Michael Armbrust <michael@databricks.com>
add Sphinx as a dependency of building docs

Author: Davies Liu <davies@databricks.com>

Closes #3388 from davies/doc_readme and squashes the following commits:

daa1482 [Davies Liu] add Sphinx dependency

(cherry picked from commit 8cd6eea6298fc8e811dece38c2875e94ff863948)
Signed-off-by: Patrick Wendell <pwendell@gmail.com>
[SPARK-4522][SQL] Parse schema with missing metadata.

This is just a quick fix for 1.2.  SPARK-4523 describes a more complete solution.

Author: Michael Armbrust <michael@databricks.com>

Closes #3392 from marmbrus/parquetMetadata and squashes the following commits:

bcc6626 [Michael Armbrust] Parse schema with missing metadata.

(cherry picked from commit 90a6a46bd11030672597f015dd443d954107123a)
Signed-off-by: Michael Armbrust <michael@databricks.com>
[SPARK-4472][Shell] Print "Spark context available as sc." only when SparkContext is created...

... successfully

It's weird that printing "Spark context available as sc" when creating SparkContext unsuccessfully.

Author: zsxwing <zsxwing@gmail.com>

Closes #3341 from zsxwing/SPARK-4472 and squashes the following commits:

4850093 [zsxwing] Print "Spark context available as sc." only when SparkContext is created successfully

(cherry picked from commit f1069b84b82b932751604bc20d5c2e451d57c455)
Signed-off-by: Reynold Xin <rxin@databricks.com>