text: #ifndef PARSING_BT_H
  #define PARSING_BT_H
  
  #include "behaviortree_cpp_v3/bt_factory.h"
  #include "behaviortree_cpp_v3/blackboard.h"
  
  namespace BT
  {
  /**
   * @brief The BehaviorTreeParser is a class used to read the model
   * of a BehaviorTree from file or text and instantiate the
   * corresponding tree using the BehaviorTreeFactory.
   */
  class Parser
  {
    public:
      Parser() = default;
  
      ~Parser() = default;
  
      Parser(const Parser& other) = delete;
      Parser& operator=(const Parser& other) = delete;
  
      virtual void loadFromFile(const std::string& filename) = 0;
  
      virtual void loadFromText(const std::string& xml_text) = 0;
  
      virtual Tree instantiateTree(const Blackboard::Ptr &root_blackboard) = 0;
  };
  
  }
  
  #endif   // PARSING_BT_H
  