[SPARK-1552] Fix type comparison bug in {map,outerJoin}Vertices

In GraphImpl, mapVertices and outerJoinVertices use a more efficient implementation when the map function conserves vertex attribute types. This is implemented by comparing the ClassTags of the old and new vertex attribute types. However, ClassTags store erased types, so the comparison will return a false positive for types with different type parameters, such as Option[Int] and Option[Double].

This PR resolves the problem by requesting that the compiler generate evidence of equality between the old and new vertex attribute types, and providing a default value for the evidence parameter if the two types are not equal. The methods can then check the value of the evidence parameter to see whether the types are equal.

It also adds a test called "mapVertices changing type with same erased type" that failed before the PR and succeeds now.

Callers of mapVertices and outerJoinVertices can no longer use a wildcard for a graph's VD type. To avoid "Error occurred in an application involving default arguments," they must bind VD to a type parameter, as this PR does for ShortestPaths and LabelPropagation.