#include<cmath>

 #include<cstdio>

 #include<vector>

 #include<cstring>

 #include<algorithm>

 #define FOR(a,b,c) for(int a=(b);a<=(c);a++)

 using namespace std;

 const int N = +;

 const double PI = acos(-1.0);

 const double eps = 1e-;

 int dcmp(double x) {

     if(fabs(x)<eps) return ; else return x<? -:;

 }

 struct Pt {

     double x,y;

     Pt(double x=,double y=) :x(x),y(y) {};

 };

 typedef Pt vec;

 vec operator - (Pt a,Pt b) { return vec(a.x-b.x,a.y-b.y); }

 vec operator + (vec a,vec b) { return vec(a.x+b.x,a.y+b.y); }

 bool operator == (Pt a,Pt b) {

     return dcmp(a.x-b.x)== && dcmp(a.y-b.y)==;

 }

 bool operator < (const Pt& a,const Pt& b) {

     return a.x<b.x || (a.x==b.x && a.y<b.y);

 }

 vec rotate(vec a,double x) {

     return vec(a.x*cos(x)-a.y*sin(x),a.x*sin(x)+a.y*cos(x));

 }

 double cross(vec a,vec b) { return a.x*b.y-a.y*b.x; }

 double dist(Pt a,Pt b) {

     return sqrt((a.x-b.x)*(a.x-b.x)+(a.y-b.y)*(a.y-b.y));

 }

 vector<Pt> ConvexHull(vector<Pt> p) {

     sort(p.begin(),p.end());

     p.erase(unique(p.begin(),p.end()),p.end());

     int n=p.size() , m=;

     vector<Pt> ch(n+);

     for(int i=;i<n;i++) {

         while(m> && cross(ch[m-]-ch[m-],p[i]-ch[m-])<=) m--;

         ch[m++]=p[i];

     }

     int k=m;

     for(int i=n-;i>=;i--) {

         while(m>k && cross(ch[m-]-ch[m-],p[i]-ch[m-])<=) m--;

         ch[m++]=p[i];

     }

     if(n>) m--;

     ch.resize(m); return ch;

 }

 int n;

 double a,b,r;

 vector <Pt> p,ch;

 int main() {

     scanf("%d%lf%lf%lf",&n,&b,&a,&r);

     a-=*r , b-=*r; a/= , b/=;

     double x,y,ang,ans=;

     FOR(i,,n) {

         scanf("%lf%lf%lf",&x,&y,&ang);

         Pt o=Pt(x,y);

         p.push_back(o+rotate(vec(-a,-b),ang));

         p.push_back(o+rotate(vec(-a,b),ang));

         p.push_back(o+rotate(vec(a,-b),ang));

         p.push_back(o+rotate(vec(a,b),ang));

     }

     ch=ConvexHull(p);

     n=ch.size();

     FOR(i,,n-)

         ans+=dist(ch[i],ch[i+]);

     ans+=dist(ch[n-],ch[]);

     ans+=*PI*r;

     printf("%.2lf",ans);

     return ;

 }