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[SPARK-11011][SQL] Narrow type of UDT serialization
## What changes were proposed in this pull request? Narrow down the parameter type of `UserDefinedType#serialize()`. Currently, the parameter type is `Any`, however it would logically make more sense to narrow it down to the type of the actual user defined type. ## How was this patch tested? Existing tests were successfully run on local machine. Author: Jakob Odersky <[email protected]> Closes #11379 from jodersky/SPARK-11011-udt-types.
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