Implement a Catalog SQL backend

This adds a catalog SQL backend.  Makes use of 3 tables: endpoint,
service and service_endpoint_association.  Services and endpoints are
joined via the association table.  New sqlalchemy models have been defined
in keystone/catalog/backends/sql.py and are imported during the initial
migration (v001).

Configuring the service catalog is possible with changes to
python-keystoneclient.  I will be proposing a merge for that and I'll
update this commit msg with a link to its review.  With those client
changes, admins can now create and delete endpoints that are associated
with existing services. Existing service commands on the client-side work
as expected against this new backend.  This driver's get_catalog method
properly translates existing services, endpoints and relatoins into something
consumable by keystone non-admin users / clients.

Update: Some cleanup as per bcwaldon's suggestions

Update: Match functionality of existing catalog backend by returning
        IDs instead of sql objects for list_services() and list_endpoints()

Update: pep8 fixes

Update (1/2): Remove legacy OS-KSADM stuff

Update (2/2): Remove ServiceEndpointAssociation table/model
              in favor of a FK, endpoint.service_id -> service.id

Resolves bug 928053

Change-Id: Icc11889920744c36255f06356744cb247d79f4aa

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