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[SPARK-3701][MLLIB] update python linalg api and small fixes
1. doc updates 2. simple checks on vector dimensions 3. use column major for matrices davies jkbradley Author: Xiangrui Meng <meng@databricks.com> Closes apache#2548 from mengxr/mllib-py-clean and squashes the following commits: 6dce2df [Xiangrui Meng] address comments 116b5db [Xiangrui Meng] use np.dot instead of array.dot 75f2fcc [Xiangrui Meng] fix python style fefce00 [Xiangrui Meng] better check of vector size with more tests 067ef71 [Xiangrui Meng] majored -> major ef853f9 [Xiangrui Meng] update python linalg api and small fixes
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