[SPARK-17699] Support for parsing JSON string columns

Spark SQL has great support for reading text files that contain JSON data.  However, in many cases the JSON data is just one column amongst others.  This is particularly true when reading from sources such as Kafka.  This PR adds a new functions `from_json` that converts a string column into a nested `StructType` with a user specified schema.

Example usage:
```scala
val df = Seq("""{"a": 1}""").toDS()
val schema = new StructType().add("a", IntegerType)

df.select(from_json($"value", schema) as 'json) // => [json: <a: int>]
```

This PR adds support for java, scala and python.  I leveraged our existing JSON parsing support by moving it into catalyst (so that we could define expressions using it).  I left SQL out for now, because I'm not sure how users would specify a schema.

Author: Michael Armbrust <michael@databricks.com>

Closes #15274 from marmbrus/jsonParser.