cgroup: Replace cgroup->ancestor_ids[] with ->ancestors[]

Every cgroup knows all its ancestors through its ->ancestor_ids[]. There's
no advantage to remembering the IDs instead of the pointers directly and
this makes the array useless for finding an actual ancestor cgroup forcing
cgroup_ancestor() to iteratively walk up the hierarchy instead. Let's
replace cgroup->ancestor_ids[] with ->ancestors[] and remove the walking-up
from cgroup_ancestor().

While at it, improve comments around cgroup_root->cgrp_ancestor_storage.

This patch shouldn't cause user-visible behavior differences.

v2: Update cgroup_ancestor() to use ->ancestors[].

v3: cgroup_root->cgrp_ancestor_storage's type is updated to match
    cgroup->ancestors[]. Better comments.

Signed-off-by: Tejun Heo <tj@kernel.org>
Acked-by: Namhyung Kim <namhyung@kernel.org>