[SPARK-4461][YARN] pass extra java options to yarn application master

Currently, there is no way to pass yarn am specific java options. It cause some potential issues when reading classpath from hadoop configuration file. Hadoop configuration actually replace variables in its property with the system property passed in java options. How to specify the value depends on different hadoop distribution.

The new options are SPARK_YARN_JAVA_OPTS or spark.yarn.extraJavaOptions. I make it as spark global level, because typically we don't want user to specify this in their command line each time submitting spark job after it is setup in spark-defaults.conf.

In addition, with this new extra options enabled to be passed to AM, it provides more flexibility. 

For example int the following valid mapred-site.xml file, we have the class path which specify values using system property. Hadoop can correctly handle it because it has java options passed in. 

This is the example, currently spark will break due to hadoop.version is not passed in.
  <property>
    <name>mapreduce.application.classpath</name>
    <value>/etc/hadoop/${hadoop.version}/mapreduce/*</value>
  </property>

In the meantime, we cannot relies on  mapreduce.admin.map.child.java.opts in mapred-site.xml, because it has its own extra java options specified, which does not apply to Spark.
Also, I think the latter sentences are confusing. What does it mean to be "complementary" to another config? We should just rephrase it as follows:
```
A string of extra JVM options to pass to the Yarn ApplicationMaster in client mode. In cluster mode, use spark.driver.extraJavaOptions instead.
```
No need to mention "specific system properties"