Remove unnecessary parameter table from pulse program

[nkanazawa1989]

Summary

In #5854 parameter table is deprecated and ParameterManager is introduced. This PR removes unnecessary parameter tables and .parameters, .assign_parameters methods from pulse instructions and channels.

Details and comments

Simple benchmark

%%time

for _ in range(100):
    sched = pulse.ScheduleBlock()
    for _ in range(3000):
        sched += pulse.Play(pulse.Gaussian(circuit.Parameter('dur'), 
                                           circuit.Parameter('amp'), 
                                           circuit.Parameter('sigma')), 
                            pulse.DriveChannel(circuit.Parameter('ch')))

This PR:
CPU times: user 35.8 s, sys: 1.1 s, total: 36.9 s
Wall time: 36.9 s

master:
CPU times: user 46.2 s, sys: 1.36 s, total: 47.6 s
Wall time: 47.6 s

This improvement is simply thanks to the removal of parameter table. All instructions and channels had been initializing the table in the constructor, but this is just an overhead to create new instance. We just added deprecation warning in 0.17, perhaps this PR should be on hold. However, considering the performance improvement, it could be better to remove them soon.

[mtreinish]

Per the deprecation policy: https://qiskit.org/documentation/contributing_to_qiskit.html#deprecation-policy this is way too soon to remove. I'm marking this as on hold until we have given users a chance to adapt based on the deprecation.

[nkanazawa1989]

replaced with #7267