[SPARK-13871][SQL] Support for inferring filters from data constraints

## What changes were proposed in this pull request?

This PR generalizes the `NullFiltering` optimizer rule in catalyst to `InferFiltersFromConstraints` that can automatically infer all relevant filters based on an operator's constraints while making sure of 2 things:

(a) no redundant filters are generated, and
(b) filters that do not contribute to any further optimizations are not generated.

## How was this patch tested?

Extended all tests in `InferFiltersFromConstraintsSuite` (that were initially based on `NullFilteringSuite` to test filter inference in `Filter` and `Join` operators.

In particular the 2 tests ( `single inner join with pre-existing filters: filter out values on either side` and `multiple inner joins: filter out values on all sides on equi-join keys` attempts to highlight/test the real potential of this rule for join optimization.

Author: Sameer Agarwal <sameer@databricks.com>

Closes #11665 from sameeragarwal/infer-filters.