### What changes were proposed in this pull request?
This PR adds support for typed Scala UDF to accept composed type of case class, e.g. Seq[T], Array[T], Map[Int, T] (assuming T is case class type), as input parameter type.
### Why are the changes needed?
After #27937, typed Scala UDF now has supported case class as its input parameter type. However, it can not accept the composed type of case class, such as Seq[T], Array[T], Map[Int, T] (assuming T is case class type), which causing confuse(e.g. https://github.com/apache/spark/pull/27937#discussion_r422699979) to the user.
### Does this PR introduce _any_ user-facing change?
Yes.
Run the query:
```
scala> case class Person(name: String, age: Int)
scala> Seq((1, Seq(Person("Jack", 5)))).toDF("id", "persons").withColumn("ages", udf{ s: Seq[Person] => s.head.age }.apply(col("persons"))).show
```
Before:
```
org.apache.spark.SparkException: Failed to execute user defined function($read$$Lambda$2861/628175152: (array<struct<name:string,age:int>>) => int)
at org.apache.spark.sql.catalyst.expressions.ScalaUDF.eval(ScalaUDF.scala:1129)
at org.apache.spark.sql.catalyst.expressions.Alias.eval(namedExpressions.scala:156)
at org.apache.spark.sql.catalyst.expressions.InterpretedMutableProjection.apply(InterpretedMutableProjection.scala:83)
at org.apache.spark.sql.catalyst.optimizer.ConvertToLocalRelation$$anonfun$apply$17.$anonfun$applyOrElse$69(Optimizer.scala:1492)
at scala.collection.TraversableLike.$anonfun$map$1(TraversableLike.scala:238)
....
Caused by: java.lang.ClassCastException: org.apache.spark.sql.catalyst.expressions.GenericRowWithSchema cannot be cast to Person
at $anonfun$res3$1(<console>:30)
at $anonfun$res3$1$adapted(<console>:30)
at org.apache.spark.sql.catalyst.expressions.ScalaUDF.$anonfun$f$2(ScalaUDF.scala:156)
at org.apache.spark.sql.catalyst.expressions.ScalaUDF.eval(ScalaUDF.scala:1126)
... 142 more
```
After:
```
+---+-----------+----+
| id| persons|ages|
+---+-----------+----+
| 1|[[Jack, 5]]| [5]|
+---+-----------+----+
```
### How was this patch tested?
Added tests.
Closes#28645 from Ngone51/impr-udf.
Authored-by: yi.wu <yi.wu@databricks.com>
Signed-off-by: Wenchen Fan <wenchen@databricks.com>
5ee5cfd9c0