Make sure you have checked _all_ steps below.

### Jira

- [x] My PR addresses the following [Airflow 
Jira](https://issues.apache.org/jira/browse/AIRFLOW/) issues and references 
them in the PR title. For example, "\[AIRFLOW-XXX\] My Airflow PR"
  - https://issues.apache.org/jira/browse/AIRFLOW-3162
  - In case you are fixing a typo in the documentation you can prepend your 
commit with \[AIRFLOW-XXX\], code changes always need a Jira issue.

### Description

- [x] Here are some details about my PR, including screenshots of any UI 
changes:

This is a fix for a regression on `HttpHook.get()` where if a port is specified 
on `airflow.models.Connection` and the provided endpoint has no leading slash, 
the URL will fail to parse.

```
# with the connection
airflow.models.Connection(
    conn_id='test_conn',
    conn_type='http',
    host='test.com',
    port=1234
)

>>> hook = HttpHook(method='GET', http_conn_id='test_conn')
>>> hook.get(endpoint='some/endpoint')
...
InvalidURL: Failed to parse: test.com:1234some/endpoint
```

### Tests

- [x] My PR adds the following unit tests __OR__ does not need testing for this 
extremely good reason:

`tests.hooks.test_http_hook:TestHttpHook.test_get_request_with_port`

### Commits

- [x] My commits all reference Jira issues in their subject lines, and I have 
squashed multiple commits if they address the same issue. In addition, my 
commits follow the guidelines from "[How to write a good git commit 
message](http://chris.beams.io/posts/git-commit/)":
  1. Subject is separated from body by a blank line
  1. Subject is limited to 50 characters (not including Jira issue reference)
  1. Subject does not end with a period
  1. Subject uses the imperative mood ("add", not "adding")
  1. Body wraps at 72 characters
  1. Body explains "what" and "why", not "how"

### Documentation

- [x] In case of new functionality, my PR adds documentation that describes how 
to use it.
  - When adding new operators/hooks/sensors, the autoclass documentation 
generation needs to be added.

### Code Quality

- [x] Passes `git diff upstream/master -u -- "*.py" | flake8 --diff`


[ Full content available at: 
https://github.com/apache/incubator-airflow/pull/4001 ]
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