hi all.

in the pure pursuit's bicycle model, isn't the x, y position the rear wheels?
Is there something that I might have missed?

self.x += self.v * math.cos(self.yaw) * dt # rear wheel's x position
self.y += self.v * math.sin(self.yaw) * dt #rear wheel's y position
self.yaw += self.v / WB * math.tan(delta) * dt

thanks.