[SPARK-20639][SQL] Add single argument support for to_timestamp in SQL with documentation improvement

## What changes were proposed in this pull request?

This PR proposes three things as below:

- Use casting rules to a timestamp in `to_timestamp` by default (it was `yyyy-MM-dd HH:mm:ss`).

- Support single argument for `to_timestamp` similarly with APIs in other languages.

  For example, the one below works

  ```
  import org.apache.spark.sql.functions._
  Seq("2016-12-31 00:12:00.00").toDF("a").select(to_timestamp(col("a"))).show()
  ```

  prints

  ```
  +----------------------------------------+
  |to_timestamp(`a`, 'yyyy-MM-dd HH:mm:ss')|
  +----------------------------------------+
  |                     2016-12-31 00:12:00|
  +----------------------------------------+
  ```

  whereas this does not work in SQL.

  **Before**

  ```
  spark-sql> SELECT to_timestamp('2016-12-31 00:12:00');
  Error in query: Invalid number of arguments for function to_timestamp; line 1 pos 7
  ```

  **After**

  ```
  spark-sql> SELECT to_timestamp('2016-12-31 00:12:00');
  2016-12-31 00:12:00
  ```

- Related document improvement for SQL function descriptions and other API descriptions accordingly.

  **Before**

  ```
  spark-sql> DESCRIBE FUNCTION extended to_date;
  ...
  Usage: to_date(date_str, fmt) - Parses the `left` expression with the `fmt` expression. Returns null with invalid input.
  Extended Usage:
      Examples:
        > SELECT to_date('2016-12-31', 'yyyy-MM-dd');
         2016-12-31
  ```

  ```
  spark-sql> DESCRIBE FUNCTION extended to_timestamp;
  ...
  Usage: to_timestamp(timestamp, fmt) - Parses the `left` expression with the `format` expression to a timestamp. Returns null with invalid input.
  Extended Usage:
      Examples:
        > SELECT to_timestamp('2016-12-31', 'yyyy-MM-dd');
         2016-12-31 00:00:00.0
  ```

  **After**

  ```
  spark-sql> DESCRIBE FUNCTION extended to_date;
  ...
  Usage:
      to_date(date_str[, fmt]) - Parses the `date_str` expression with the `fmt` expression to
        a date. Returns null with invalid input. By default, it follows casting rules to a date if
        the `fmt` is omitted.

  Extended Usage:
      Examples:
        > SELECT to_date('2009-07-30 04:17:52');
         2009-07-30
        > SELECT to_date('2016-12-31', 'yyyy-MM-dd');
         2016-12-31
  ```

  ```
  spark-sql> DESCRIBE FUNCTION extended to_timestamp;
  ...
   Usage:
      to_timestamp(timestamp[, fmt]) - Parses the `timestamp` expression with the `fmt` expression to
        a timestamp. Returns null with invalid input. By default, it follows casting rules to
        a timestamp if the `fmt` is omitted.

  Extended Usage:
      Examples:
        > SELECT to_timestamp('2016-12-31 00:12:00');
         2016-12-31 00:12:00
        > SELECT to_timestamp('2016-12-31', 'yyyy-MM-dd');
         2016-12-31 00:00:00
  ```

## How was this patch tested?

Added tests in `datetime.sql`.

Author: hyukjinkwon <gurwls223@gmail.com>

Closes #17901 from HyukjinKwon/to_timestamp_arg.