def initialize_pose_cell_network(self, pc_shape):
pcnet = PoseCellNetwork(pc_shape)
xy_pc = pc_shape[0]/2+1
th_pc = pc_shape[2]/2+1
pcnet.posecells[xy_pc, xy_pc, th_pc] = 1
v_temp = self.view_templates[0]
pcnet.update(self.visual_odometer.delta, v_temp)
#pcmax = pcnet.get_pc_max(pcnet.avg_xywrap, pcnet.avg_thwrap)
return pcnet
