### What changes were proposed in this pull request?

This PR removes the ANTLR3 based parser, and moves the new ANTLR4 based parser into the `org.apache.spark.sql.catalyst.parser package`.

### How was this patch tested?

Existing unit tests.

cc rxin andrewor14 yhuai

Author: Herman van Hovell <hvanhovell@questtec.nl>

Closes #12071 from hvanhovell/SPARK-14211.