Separate out local linear algebra as a standalone module without Spark dependency

Separate out linear algebra as a standalone module without Spark dependency to simplify production deployment. We can call the new module mllib-local, which might contain local models in the future.

The major issue is to remove dependencies on user-defined types.

The package name will be changed from mllib to ml. For example, Vector will be changed from `org.apache.spark.mllib.linalg.Vector` to `org.apache.spark.ml.linalg.Vector`. The return vector type in the new ML pipeline will be the one in ML package; however, the existing mllib code will not be touched. As a result, this will potentially break the API. Also, when the vector is loaded from mllib vector by Spark SQL, the vector will automatically converted into the one in ml package.