#include <iostream>
#include <vector>
#include <queue>
using namespace std;

class Graph {
public:
	Graph(int n) {
		Table.resize(n);
		for (int i = 0; i < n; i++) {
			Table[i].resize(n);
		}
	}
	~Graph() {}

	void AddEdge(int x, int y) {
		Table[x][y] = 1;
		Table[y][x] = 1;
	}

	bool Path() {
		vector<bool> IsVisited;
		IsVisited.resize(Table.size());

		queue<int> q;
		q.push(Table.size() - 2);
		IsVisited[Table.size()-2] = 1;

		while (!q.empty()) {
			int tmp = q.front();
			q.pop();
			for (int i = 0; i < Table.size(); i++) {
				if (Table[tmp][i] == 1) {
					if (!IsVisited[i]) {
						if (i == Table.size() - 1) {
							return false;
						}
						q.push(i);
						IsVisited[i] = true;
					}
				}
			}

		}
		return  true;;
	}

private:
	vector<vector<int>> Table;
};


int main() {
	int XL = 0; int XR = 0;
	cin >> XL; cin >> XR;

	int R = 0;
	cin >> R;

	int N = 0;
	cin >> N;

	vector<pair<int, int>> Verticles;
	for (int i = 0; i < N; i++) {
		int x = 0; int y = 0;
		cin >> x; cin >> y;

		pair<int, int> a;
		a.first = x;
		a.second = y;
		Verticles.push_back(a);
	}

	Graph g(N + 2);

	double r = 48.000;

	for (int i = 0; i < N; i++) {
		int x1 = Verticles[i].first;
		int y1 = Verticles[i].second;
		for (int j = i + 1; j < N;j++) {
			int x2 = Verticles[j].first;
			int y2 = Verticles[j].second;
			if (abs(x2 - x1)*abs(x2 - x1) + abs(y2 - y1)*abs(y2 - y1) < r * r + R*R) {
				g.AddEdge(i, j);
			}
		}
		if (x1 - XL < r+R) {
			g.AddEdge(i, N);
		}
		if (XR - x1 < r+R) {
			g.AddEdge(i, N + 1);
		}
	}
	if (g.Path()) {
		cout << "Yeas";
	}
	else
	{
		cout << "Nope";
	}
	system("pause");
	return 0;
}