[SPARK-4611][MLlib] Implement the efficient vector norm

The vector norm in breeze is implemented by `activeIterator` which is known to be very slow.
In this PR, an efficient vector norm is implemented, and with this API, `Normalizer` and
`k-means` have big performance improvement.

Here is the benchmark against mnist8m dataset.

a) `Normalizer`
Before
DenseVector: 68.25secs
SparseVector: 17.01secs

With this PR
DenseVector: 12.71secs
SparseVector: 2.73secs

b) `k-means`
Before
DenseVector: 83.46secs
SparseVector: 61.60secs

With this PR
DenseVector: 70.04secs
SparseVector: 59.05secs

Author: DB Tsai <dbtsai@alpinenow.com>

Closes #3462 from dbtsai/norm and squashes the following commits:

63c7165 [DB Tsai] typo
0c3637f [DB Tsai] add import org.apache.spark.SparkContext._ back
6fa616c [DB Tsai] address feedback
9b7cb56 [DB Tsai] move norm to static method
0b632e6 [DB Tsai] kmeans
dbed124 [DB Tsai] style
c1a877c [DB Tsai] first commit

(cherry picked from commit 64f3175bf976f5a28e691cedc7a4b333709e0c58)
Signed-off-by: Xiangrui Meng <meng@databricks.com>