#include <bits/stdc++.h>
#include <cmath>
#include <math.h>
using namespace std;
struct point{
double x,y;
point(double A,double B){
x=A,y=B;
}
point() = default;
};
struct line{
point point_A,point_B;
line(point A,point B){
point_A = A,point_B = B;
}
line() = default;
};
struct Circle{
point O;
int r;
Circle(point A,int B){
O=A,r=B;
}
Circle() = default;
};
double getDistance(const Circle& circle, const line& l) {
// 请在这里实现你的代码
// 先求点到直线的距离,然后用勾股定理得到
double d = abs( (l.point_A.x-circle.O.x)*(l.point_B.y-circle.O.y) - (l.point_B.x-circle.O.x)*(l.point_A.y-circle.O.y) ) / sqrt( pow(l.point_A.x - l.point_B.x,2) + pow(l.point_A.y - l.point_B.y,2) );
return 2*sqrt(circle.r*circle.r-d*d);
}
int main() {
double ox, oy, r;
double x1, y1, x2, y2;
cin >> ox >> oy >> r;
cin >> x1 >> y1 >> x2 >> y2;
point center(ox, oy);
Circle circle(center, (int)r);
point p1(x1, y1);
point p2(x2, y2);
line l(p1, p2);
double result = getDistance(circle, l);
cout << fixed << setprecision(6) << result << endl;
return 0;
}