feat: support output order remapping

[vbarua]

• Makes fields in SubstraitRelNodeConverter protected to allow for re-use when extending it with custom behaviours.
• Adds deriveRecordType to Cross to make it consistent with other Rels.
• Adds SubstraitBuilder, which encodes a DSL to make it easier to build plans programmatically.
• Adds SubstraitToCalcite, to convert directly from Substrait to Calcite. Includes functionality to extract a schema from the Substrait Rel directly.
• Bumps the junit-jupiter version for access to the assertInstanceOf method.
• Adds tests to verify the layout of Rels when converted w/ both Direct and Remap output ordering.
• Adds support for the Remap output type to SubstraitRelNodeConverter.