SPARK-4156 [MLLIB] EM algorithm for GMMs

Implementation of Expectation-Maximization for Gaussian Mixture Models.

This is my maiden contribution to Apache Spark, so I apologize now if I have done anything incorrectly; having said that, this work is my own, and I offer it to the project under the project's open source license.

Author: Travis Galoppo <tjg2107@columbia.edu>
Author: Travis Galoppo <travis@localhost.localdomain>
Author: tgaloppo <tjg2107@columbia.edu>
Author: FlytxtRnD <meethu.mathew@flytxt.com>

Closes #3022 from tgaloppo/master and squashes the following commits:

aaa8f25 [Travis Galoppo] MLUtils: changed privacy of EPSILON from [util] to [mllib]
709e4bf [Travis Galoppo] fixed usage line to include optional maxIterations parameter
acf1fba [Travis Galoppo] Fixed parameter comment in GaussianMixtureModel Made maximum iterations an optional parameter to DenseGmmEM
9b2fc2a [Travis Galoppo] Style improvements Changed ExpectationSum to a private class
b97fe00 [Travis Galoppo] Minor fixes and tweaks.
1de73f3 [Travis Galoppo] Removed redundant array from array creation
578c2d1 [Travis Galoppo] Removed unused import
227ad66 [Travis Galoppo] Moved prediction methods into model class.
308c8ad [Travis Galoppo] Numerous changes to improve code
cff73e0 [Travis Galoppo] Replaced accumulators with RDD.aggregate
20ebca1 [Travis Galoppo] Removed unusued code
42b2142 [Travis Galoppo] Added functionality to allow setting of GMM starting point. Added two cluster test to testing suite.
8b633f3 [Travis Galoppo] Style issue
9be2534 [Travis Galoppo] Style issue
d695034 [Travis Galoppo] Fixed style issues
c3b8ce0 [Travis Galoppo] Merge branch 'master' of https://github.com/tgaloppo/spark   Adds predict() method
2df336b [Travis Galoppo] Fixed style issue
b99ecc4 [tgaloppo] Merge pull request #1 from FlytxtRnD/predictBranch
f407b4c [FlytxtRnD] Added predict() to return the cluster labels and membership values
97044cf [Travis Galoppo] Fixed style issues
dc9c742 [Travis Galoppo] Moved MultivariateGaussian utility class
e7d413b [Travis Galoppo] Moved multivariate Gaussian utility class to mllib/stat/impl Improved comments
9770261 [Travis Galoppo] Corrected a variety of style and naming issues.
8aaa17d [Travis Galoppo] Added additional train() method to companion object for cluster count and tolerance parameters.
676e523 [Travis Galoppo] Fixed to no longer ignore delta value provided on command line
e6ea805 [Travis Galoppo] Merged with master branch; update test suite with latest context changes. Improved cluster initialization strategy.
86fb382 [Travis Galoppo] Merge remote-tracking branch 'upstream/master'
719d8cc [Travis Galoppo] Added scala test suite with basic test
c1a8e16 [Travis Galoppo] Made GaussianMixtureModel class serializable Modified sum function for better performance
5c96c57 [Travis Galoppo] Merge remote-tracking branch 'upstream/master'
c15405c [Travis Galoppo] SPARK-4156