new MLlib documentation for optimization, regression and classification

new documentation with tex formulas, hopefully improving usability and reproducibility of the offered MLlib methods.
also did some minor changes in the code for consistency. scala tests pass.

this is the rebased branch, i deleted the old PR

jira:
https://spark-project.atlassian.net/browse/MLLIB-19

Author: Martin Jaggi <m.jaggi@gmail.com>

Closes #566 and squashes the following commits:

5f0f31e [Martin Jaggi] line wrap at 100 chars
4e094fb [Martin Jaggi] better description of GradientDescent
1d6965d [Martin Jaggi] remove broken url
ea569c3 [Martin Jaggi] telling what updater actually does
964732b [Martin Jaggi] lambda R() in documentation
a6c6228 [Martin Jaggi] better comments in SGD code for regression
b32224a [Martin Jaggi] new optimization documentation
d5dfef7 [Martin Jaggi] new classification and regression documentation
b07ead6 [Martin Jaggi] correct scaling for MSE loss
ba6158c [Martin Jaggi] use d for the number of features
bab2ed2 [Martin Jaggi] renaming LeastSquaresGradient