[SPARK-32315][ML] Provide an explanation error message when calling require

### What changes were proposed in this pull request?
Small improvement in the error message shown to user https://github.com/apache/spark/blob/master/mllib/src/main/scala/org/apache/spark/mllib/util/MLUtils.scala#L537-L538

### Why are the changes needed?
The current behavior is an exception is thrown but without any specific details on the cause
```
Caused by: java.lang.IllegalArgumentException: requirement failedCaused by: java.lang.IllegalArgumentException: requirement failed at scala.Predef$.require(Predef.scala:212) at org.apache.spark.mllib.util.MLUtils$.fastSquaredDistance(MLUtils.scala:508) at org.apache.spark.mllib.clustering.EuclideanDistanceMeasure$.fastSquaredDistance(DistanceMeasure.scala:232) at org.apache.spark.mllib.clustering.EuclideanDistanceMeasure.isCenterConverged(DistanceMeasure.scala:190) at org.apache.spark.mllib.clustering.KMeans$$anonfun$runAlgorithm$4.apply(KMeans.scala:336) at org.apache.spark.mllib.clustering.KMeans$$anonfun$runAlgorithm$4.apply(KMeans.scala:334) at scala.collection.MapLike$MappedValues$$anonfun$foreach$3.apply(MapLike.scala:245) at scala.collection.MapLike$MappedValues$$anonfun$foreach$3.apply(MapLike.scala:245) at scala.collection.TraversableLike$WithFilter$$anonfun$foreach$1.apply(TraversableLike.scala:733) at scala.collection.mutable.HashMap$$anonfun$foreach$1.apply(HashMap.scala:130) at scala.collection.mutable.HashMap$$anonfun$foreach$1.apply(HashMap.scala:130) at scala.collection.mutable.HashTable$class.foreachEntry(HashTable.scala:236) at scala.collection.mutable.HashMap.foreachEntry(HashMap.scala:40) at scala.collection.mutable.HashMap.foreach(HashMap.scala:130) at scala.collection.TraversableLike$WithFilter.foreach(TraversableLike.scala:732) at scala.collection.MapLike$MappedValues.foreach(MapLike.scala:245) at org.apache.spark.mllib.clustering.KMeans.runAlgorithm(KMeans.scala:334) at org.apache.spark.mllib.clustering.KMeans.run(KMeans.scala:251) at org.apache.spark.mllib.clustering.KMeans.run(KMeans.scala:233)
```

### Does this PR introduce _any_ user-facing change?
Yes, this PR adds an explanation message to be shown to user when requirement check is not meant

### How was this patch tested?
manually

Closes apache#29115 from dzlab/patch/SPARK-32315.

Authored-by: dzlab <[email protected]>
Signed-off-by: Huaxin Gao <[email protected]>

Author: dzlab

mllib/src/main/scala/org/apache/spark/mllib/util/MLUtils.scala

@@ -534,8 +534,10 @@ object MLUtils extends Logging {
       norm2: Double,
       precision: Double = 1e-6): Double = {
     val n = v1.size
-    require(v2.size == n)
-    require(norm1 >= 0.0 && norm2 >= 0.0)
+    require(v2.size == n,
+      s"Both vectors should have same length, found v1 is $n while v2 is ${v2.size}")
+    require(norm1 >= 0.0 && norm2 >= 0.0,
+      s"Both norms should be greater or equal to 0.0, found norm1=$norm1, norm2=$norm2")
     var sqDist = 0.0
     /*
      * The relative error is