Add documentation on how to kick off a pipeline via API/CLI/SDK

[aronchick]

Even if it's just how to generate swagger and create a client from that

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[sarahmaddox]

An update:

• I've created the intro to the Pipelines SDK, which covers the SDK side of things:
  https://www.kubeflow.org/docs/pipelines/sdk/sdk-overview/

• The Pipelines CLI isn't complete - we've decided not to document it at this stage.

• That leaves just the Pipelines API.

[sarahmaddox]

I'm going to close this issue, as a duplicate of #734

/close

[k8s-ci-robot]

@sarahmaddox: Closing this issue.

In response to this:

I'm going to close this issue, as a duplicate of #734

/close

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