[SPARK-16965][MLLIB][PYSPARK] Fix bound checking for SparseVector.

## What changes were proposed in this pull request?

1. In scala, add negative low bound checking and put all the low/upper bound checking in one place
2. In python, add low/upper bound checking of indices.

## How was this patch tested?

unit test added

Author: Jeff Zhang <zjffdu@apache.org>

Closes #14555 from zjffdu/SPARK-16965.