#include <iostream>
#include <sstream>
#include <iomanip>
#include <vector>
#include <string>
#include <map>
#include <set>
#include <algorithm>
#include <numeric>
#include <iterator>
#include <functional>
#include <complex>
#include <queue>
#include <stack>
#include <cmath>
#include <cassert>
using namespace std;
typedef long long LL;
typedef complex<double> CMP;
class CandyOnDisk { public:
string ableToAchieve(vector <int> x_, vector <int> y_, vector <int> r_, int sx, int sy, int tx, int ty)
{
if(sx==tx && sy==ty)
return "YES";
vector<LL> x,y,r;
{
map<pair<LL,LL>,LL> xyr;
for(int i=0; i<x_.size(); ++i)
xyr[make_pair(x_[i],y_[i])] = max<LL>(xyr[make_pair(x_[i],y_[i])], r_[i]);
for(map<pair<LL,LL>,LL>::iterator it=xyr.begin(); it!=xyr.end(); ++it) {
x.push_back(it->first.first);
y.push_back(it->first.second);
r.push_back(it->second);
}
}
const int N = x.size();
map<int, double> p;
{
for(int i=0; i<N; ++i)
{
LL dd = (sx-x[i])*(sx-x[i])+(sy-y[i])*(sy-y[i]);
if( dd <= r[i]*r[i] )
{
if( dd == (tx-x[i])*(tx-x[i])+(ty-y[i])*(ty-y[i]) )
return "YES";
bool ok = false;
for(int k=0; k<N; ++k) if(k!=i)
{
LL d = (x[i]-x[k])*(x[i]-x[k]) + (y[i]-y[k])*(y[i]-y[k]);
if( d <= (r[i]+r[k])*(r[i]+r[k]) )
ok = true;
}
if(ok)
p[i] = sqrt((double)dd);
}
}
}
for(;;)
{
bool upd = false;
map<int,double> p2 = p;
for(map<int,double>::iterator it=p.begin(); it!=p.end(); ++it)
{
int i = it->first;
double d = it->second;
LL dd = (tx-x[i])*(tx-x[i])+(ty-y[i])*(ty-y[i]);
if(d*d <= dd && dd <= r[i]*r[i])
return "YES";
for(int k=0; k<N; ++k) if(k!=i)
{
double z = abs(CMP(x[i],y[i])-CMP(x[k],y[k]));
if(max(0.0, z-r[k]) <= d) {
double dk = max(0.0, z-r[i]);
if(!p2.count(k) || p2[k]>dk) {
upd = true;
p2[k] = dk;
}
}
}
}
if(!upd)
break;
p.swap(p2);
}
return "NO";
}
};
// BEGIN CUT HERE
#include <ctime>
double start_time; string timer()
{ ostringstream os; os << " (" << int((clock()-start_time)/CLOCKS_PER_SEC*1000) << " msec)"; return os.str(); }
template<typename T> ostream& operator<<(ostream& os, const vector<T>& v)
{ os << "{ ";
for(typename vector<T>::const_iterator it=v.begin(); it!=v.end(); ++it)
os << '\"' << *it << '\"' << (it+1==v.end() ? "" : ", "); os << " }"; return os; }
void verify_case(const string& Expected, const string& Received) {
bool ok = (Expected == Received);
if(ok) cerr << "PASSED" << timer() << endl; else { cerr << "FAILED" << timer() << endl;
cerr << "\to: \"" << Expected << '\"' << endl << "\tx: \"" << Received << '\"' << endl; } }
#define CASE(N) {cerr << "Test Case #" << N << "..." << flush; start_time=clock();
#define END verify_case(_, CandyOnDisk().ableToAchieve(x, y, r, sx, sy, tx, ty));}
int main(){
CASE(0)
int x_[] = {0, 4};
vector <int> x(x_, x_+sizeof(x_)/sizeof(*x_));
int y_[] = {0, 0};
vector <int> y(y_, y_+sizeof(y_)/sizeof(*y_));
int r_[] = {3, 3};
vector <int> r(r_, r_+sizeof(r_)/sizeof(*r_));
int sx = -1;
int sy = -2;
int tx = 6;
int ty = 1;
string _ = "YES";
END
CASE(1)
int x_[] = {0, 3};
vector <int> x(x_, x_+sizeof(x_)/sizeof(*x_));
int y_[] = {0, 0};
vector <int> y(y_, y_+sizeof(y_)/sizeof(*y_));
int r_[] = {5, 3};
vector <int> r(r_, r_+sizeof(r_)/sizeof(*r_));
int sx = -4;
int sy = 0;
int tx = -2;
int ty = 0;
string _ = "YES";
END
CASE(2)
int x_[] = {0};
vector <int> x(x_, x_+sizeof(x_)/sizeof(*x_));
int y_[] = {0};
vector <int> y(y_, y_+sizeof(y_)/sizeof(*y_));
int r_[] = {1};
vector <int> r(r_, r_+sizeof(r_)/sizeof(*r_));
int sx = 0;
int sy = 0;
int tx = 571;
int ty = 571;
string _ = "NO";
END
CASE(3)
int x_[] = {0};
vector <int> x(x_, x_+sizeof(x_)/sizeof(*x_));
int y_[] = {0};
vector <int> y(y_, y_+sizeof(y_)/sizeof(*y_));
int r_[] = {1};
vector <int> r(r_, r_+sizeof(r_)/sizeof(*r_));
int sx = 571;
int sy = 571;
int tx = 571;
int ty = 571;
string _ = "YES";
END
CASE(4)
int x_[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20};
vector <int> x(x_, x_+sizeof(x_)/sizeof(*x_));
int y_[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20};
vector <int> y(y_, y_+sizeof(y_)/sizeof(*y_));
int r_[] = {2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2};
vector <int> r(r_, r_+sizeof(r_)/sizeof(*r_));
int sx = 2;
int sy = 2;
int tx = 19;
int ty = 19;
string _ = "YES";
END
CASE(5)
int x_[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20};
vector <int> x(x_, x_+sizeof(x_)/sizeof(*x_));
int y_[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20};
vector <int> y(y_, y_+sizeof(y_)/sizeof(*y_));
int r_[] = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
vector <int> r(r_, r_+sizeof(r_)/sizeof(*r_));
int sx = 2;
int sy = 2;
int tx = 19;
int ty = 19;
string _ = "NO";
END
/*
CASE(6)
int x_[] = ;
vector <int> x(x_, x_+sizeof(x_)/sizeof(*x_));
int y_[] = ;
vector <int> y(y_, y_+sizeof(y_)/sizeof(*y_));
int r_[] = ;
vector <int> r(r_, r_+sizeof(r_)/sizeof(*r_));
int sx = ;
int sy = ;
int tx = ;
int ty = ;
string _ = ;
END
CASE(7)
int x_[] = ;
vector <int> x(x_, x_+sizeof(x_)/sizeof(*x_));
int y_[] = ;
vector <int> y(y_, y_+sizeof(y_)/sizeof(*y_));
int r_[] = ;
vector <int> r(r_, r_+sizeof(r_)/sizeof(*r_));
int sx = ;
int sy = ;
int tx = ;
int ty = ;
string _ = ;
END
*/
}
// END CUT HERE