[WIP][SPARK-3795] Heuristics for dynamically scaling executors

This is part of a bigger effort to provide elastic scaling of executors within a Spark application ([SPARK-3174](https://issues.apache.org/jira/browse/SPARK-3174)). This PR does not provide any functionality by itself; it is a skeleton that is missing a mechanism to be added later in [SPARK-3822](https://issues.apache.org/jira/browse/SPARK-3822).

The design doc can be found at [SPARK-3174](https://issues.apache.org/jira/browse/SPARK-3174) (under "Heuristics for Scaling Executors". This deviates from the design in two ways: (1) the remove policy is significantly simplified by cutting out the exponential increase logic that mirrors the add policy, and (2) the configuration of the add policy is split up into `addExecutorThreshold` and `addExecutorInterval`. The main reason for this is that the user may want to configure how quickly executors are added, but want to keep the trigger condition the same.

Comments and feedback are most welcome, but please keep in mind that this is still WIP! For those of you reviewing this in detail, I highly recommend doing it through your favorite IDE instead of through the diff here.
But can you just update allPendingTasks in the same way you update pendingTasks?  That seems like it doesn't hurt the existing functionality of allPendingTasks, which is updated lazily just for convenience, and in fact would *very slightly* optimize performance, since findTasks wouldn't need to deal with tasks in allPendingTasks that have actually already been scheduled.