[SPARK-14502] [SQL] Add optimization for Binary Comparison Simplification

## What changes were proposed in this pull request?

We can simplifies binary comparisons with semantically-equal operands:

1. Replace '<=>' with 'true' literal.
2. Replace '=', '<=', and '>=' with 'true' literal if both operands are non-nullable.
3. Replace '<' and '>' with 'false' literal if both operands are non-nullable.

For example, the following example plan
```
scala> sql("SELECT * FROM (SELECT explode(array(1,2,3)) a) T WHERE a BETWEEN a AND a+7").explain()
...
:  +- Filter ((a#59 >= a#59) && (a#59 <= (a#59 + 7)))
...
```
will be optimized into the following.
```
:  +- Filter (a#47 <= (a#47 + 7))
```

## How was this patch tested?

Pass the Jenkins tests including new `BinaryComparisonSimplificationSuite`.

Author: Dongjoon Hyun <dongjoon@apache.org>

Closes #12267 from dongjoon-hyun/SPARK-14502.