[SPARK-19548][SQL] Support Hive UDFs which return typed Lists/Maps

## What changes were proposed in this pull request?
This PR adds support for Hive UDFs that return fully typed java Lists or Maps, for example `List<String>` or `Map<String, Integer>`.  It is also allowed to nest these structures, for example `Map<String, List<Integer>>`. Raw collections or collections using wildcards are still not supported, and cannot be supported due to the lack of type information.

## How was this patch tested?
Modified existing tests in `HiveUDFSuite`, and I have added test cases for raw collection and collection using wildcards.

Author: Herman van Hovell <hvanhovell@databricks.com>

Closes #16886 from hvanhovell/SPARK-19548.