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[SPARK-14211][SQL] Remove ANTLR3 based parser
### What changes were proposed in this pull request? This PR removes the ANTLR3 based parser, and moves the new ANTLR4 based parser into the `org.apache.spark.sql.catalyst.parser package`. ### How was this patch tested? Existing unit tests. cc rxin andrewor14 yhuai Author: Herman van Hovell <[email protected]> Closes apache#12071 from hvanhovell/SPARK-14211.
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