## Transforms the Point's x and y, given a Pose.
    #  @pose The Pose object to transform against.
    def transform(self, pose):
        # Rotation
        newX = self.x * math.cos(pose.r) - self.y * -math.sin(pose.r)
        newY = self.x * -math.sin(pose.r) + self.y * math.cos(pose.r)

        return Point(newX + pose.x, newY - pose.y)