Problem:
Score : 600 points

Problem Statement

On the xy-plane, Snuke is going to travel from the point (x_s, y_s) to the point (x_t, y_t).
He can move in arbitrary directions with speed 1.
Here, we will consider him as a point without size.

There are N circular barriers deployed on the plane.
The center and the radius of the i-th barrier are (x_i, y_i) and r_i, respectively.
The barriers may overlap or contain each other.

A point on the plane is exposed to cosmic rays if the point is not within any of the barriers.

Snuke wants to avoid exposure to cosmic rays as much as possible during the travel.
Find the minimum possible duration of time he is exposed to cosmic rays during the travel.

Constraints

All input values are integers.

-10^9 ≤ x_s, y_s, x_t, y_t ≤ 10^9

(x_s, y_s) ≠ (x_t, y_t)

1≤N≤1,000

-10^9 ≤ x_i, y_i ≤ 10^9

1 ≤ r_i ≤ 10^9

Input

The input is given from Standard Input in the following format:

x_s y_s x_t y_t
N
x_1 y_1 r_1
x_2 y_2 r_2
:
x_N y_N r_N

Output

Print the minimum possible duration of time Snuke is exposed to cosmic rays during the travel.
The output is considered correct if the absolute or relative error is at most 10^{-9}.

Sample Input 1

-2 -2 2 2
1
0 0 1

Sample Output 1

3.6568542495

An optimal route is as follows:

Sample Input 2

-2 0 2 0
2
-1 0 2
1 0 2

Sample Output 2

0.0000000000

An optimal route is as follows:

Sample Input 3

4 -2 -2 4
3
0 0 2
4 0 1
0 4 1

Sample Output 3

4.0000000000

An optimal route is as follows:

Solution in C++ (GCC 9.2.1) (judge verdict: Accepted)



#include <bits/stdc++.h>
//#include "bits/stdc++.h"

#include <algorithm>
#include <array>

#ifdef _MSC_VER
#include <intrin.h>
#endif

namespace atcoder {

namespace internal {

// @param n `0 <= n`
// @return minimum non-negative `x` s.t. `n <= 2**x`
int ceil_pow2(int n) {
    int x = 0;
    while ((1U << x) < (unsigned int)(n)) x++;
    return x;
}

// @param n `1 <= n`
// @return minimum non-negative `x` s.t. `(n & (1 << x)) != 0`
int bsf(unsigned int n) {
#ifdef _MSC_VER
    unsigned long index;
    _BitScanForward(&index, n);
    return index;
#else
    return __builtin_ctz(n);
#endif
}

}  // namespace internal

}  // namespace atcoder



#include <utility>

namespace atcoder {

namespace internal {

// @param m `1 <= m`
// @return x mod m
constexpr long long safe_mod(long long x, long long m) {
    x %= m;
    if (x < 0) x += m;
    return x;
}

// Fast modular multiplication by barrett reduction
// Reference: https://en.wikipedia.org/wiki/Barrett_reduction
// NOTE: reconsider after Ice Lake
struct barrett {
    unsigned int _m;
    unsigned long long im;

    // @param m `1 <= m < 2^31`
    barrett(unsigned int m) : _m(m), im((unsigned long long)(-1) / m + 1) {}

    // @return m
    unsigned int umod() const { return _m; }

    // @param a `0 <= a < m`
    // @param b `0 <= b < m`
    // @return `a * b % m`
    unsigned int mul(unsigned int a, unsigned int b) const {
        // [1] m = 1
        // a = b = im = 0, so okay

        // [2] m >= 2
        // im = ceil(2^64 / m)
        // -> im * m = 2^64 + r (0 <= r < m)
        // let z = a*b = c*m + d (0 <= c, d < m)
        // a*b * im = (c*m + d) * im = c*(im*m) + d*im = c*2^64 + c*r + d*im
        // c*r + d*im < m * m + m * im < m * m + 2^64 + m <= 2^64 + m * (m + 1) < 2^64 * 2
        // ((ab * im) >> 64) == c or c + 1
        unsigned long long z = a;
        z *= b;
#ifdef _MSC_VER
        unsigned long long x;
        _umul128(z, im, &x);
#else
        unsigned long long x =
            (unsigned long long)(((unsigned __int128)(z)*im) >> 64);
#endif
        unsigned int v = (unsigned int)(z - x * _m);
        if (_m <= v) v += _m;
        return v;
    }
};

// @param n `0 <= n`
// @param m `1 <= m`
// @return `(x ** n) % m`
constexpr long long pow_mod_constexpr(long long x, long long n, int m) {
    if (m == 1) return 0;
    unsigned int _m = (unsigned int)(m);
    unsigned long long r = 1;
    unsigned long long y = safe_mod(x, m);
    while (n) {
        if (n & 1) r = (r * y) % _m;
        y = (y * y) % _m;
        n >>= 1;
    }
    return r;
}

// Reference:
// M. Forisek and J. Jancina,
// Fast Primality Testing for Integers That Fit into a Machine Word
// @param n `0 <= n`
constexpr bool is_prime_constexpr(int n) {
    if (n <= 1) return false;
    if (n == 2 || n == 7 || n == 61) return true;
    if (n % 2 == 0) return false;
    long long d = n - 1;
    while (d % 2 == 0) d /= 2;
    constexpr long long bases[3] = {2, 7, 61};
    for (long long a : bases) {
        long long t = d;
        long long y = pow_mod_constexpr(a, t, n);
        while (t != n - 1 && y != 1 && y != n - 1) {
            y = y * y % n;
            t <<= 1;
        }
        if (y != n - 1 && t % 2 == 0) {
            return false;
        }
    }
    return true;
}
template <int n> constexpr bool is_prime = is_prime_constexpr(n);

// @param b `1 <= b`
// @return pair(g, x) s.t. g = gcd(a, b), xa = g (mod b), 0 <= x < b/g
constexpr std::pair<long long, long long> inv_gcd(long long a, long long b) {
    a = safe_mod(a, b);
    if (a == 0) return {b, 0};

    // Contracts:
    // [1] s - m0 * a = 0 (mod b)
    // [2] t - m1 * a = 0 (mod b)
    // [3] s * |m1| + t * |m0| <= b
    long long s = b, t = a;
    long long m0 = 0, m1 = 1;

    while (t) {
        long long u = s / t;
        s -= t * u;
        m0 -= m1 * u;  // |m1 * u| <= |m1| * s <= b

        // [3]:
        // (s - t * u) * |m1| + t * |m0 - m1 * u|
        // <= s * |m1| - t * u * |m1| + t * (|m0| + |m1| * u)
        // = s * |m1| + t * |m0| <= b

        auto tmp = s;
        s = t;
        t = tmp;
        tmp = m0;
        m0 = m1;
        m1 = tmp;
    }
    // by [3]: |m0| <= b/g
    // by g != b: |m0| < b/g
    if (m0 < 0) m0 += b / s;
    return {s, m0};
}

// Compile time primitive root
// @param m must be prime
// @return primitive root (and minimum in now)
constexpr int primitive_root_constexpr(int m) {
    if (m == 2) return 1;
    if (m == 167772161) return 3;
    if (m == 469762049) return 3;
    if (m == 754974721) return 11;
    if (m == 998244353) return 3;
    int divs[20] = {};
    divs[0] = 2;
    int cnt = 1;
    int x = (m - 1) / 2;
    while (x % 2 == 0) x /= 2;
    for (int i = 3; (long long)(i)*i <= x; i += 2) {
        if (x % i == 0) {
            divs[cnt++] = i;
            while (x % i == 0) {
                x /= i;
            }
        }
    }
    if (x > 1) {
        divs[cnt++] = x;
    }
    for (int g = 2;; g++) {
        bool ok = true;
        for (int i = 0; i < cnt; i++) {
            if (pow_mod_constexpr(g, (m - 1) / divs[i], m) == 1) {
                ok = false;
                break;
            }
        }
        if (ok) return g;
    }
}
template <int m> constexpr int primitive_root = primitive_root_constexpr(m);

}  // namespace internal

}  // namespace atcoder


#include <cassert>
#include <numeric>
#include <type_traits>

namespace atcoder {

namespace internal {

#ifndef _MSC_VER
template <class T>
using is_signed_int128 =
    typename std::conditional<std::is_same<T, __int128_t>::value ||
                                  std::is_same<T, __int128>::value,
                              std::true_type,
                              std::false_type>::type;

template <class T>
using is_unsigned_int128 =
    typename std::conditional<std::is_same<T, __uint128_t>::value ||
                                  std::is_same<T, unsigned __int128>::value,
                              std::true_type,
                              std::false_type>::type;

template <class T>
using make_unsigned_int128 =
    typename std::conditional<std::is_same<T, __int128_t>::value,
                              __uint128_t,
                              unsigned __int128>;

template <class T>
using is_integral = typename std::conditional<std::is_integral<T>::value ||
                                                  is_signed_int128<T>::value ||
                                                  is_unsigned_int128<T>::value,
                                              std::true_type,
                                              std::false_type>::type;

template <class T>
using is_signed_int = typename std::conditional<(is_integral<T>::value &&
                                                 std::is_signed<T>::value) ||
                                                    is_signed_int128<T>::value,
                                                std::true_type,
                                                std::false_type>::type;

template <class T>
using is_unsigned_int =
    typename std::conditional<(is_integral<T>::value &&
                               std::is_unsigned<T>::value) ||
                                  is_unsigned_int128<T>::value,
                              std::true_type,
                              std::false_type>::type;

template <class T>
using to_unsigned = typename std::conditional<
    is_signed_int128<T>::value,
    make_unsigned_int128<T>,
    typename std::conditional<std::is_signed<T>::value,
                              std::make_unsigned<T>,
                              std::common_type<T>>::type>::type;

#else

template <class T> using is_integral = typename std::is_integral<T>;

template <class T>
using is_signed_int =
    typename std::conditional<is_integral<T>::value && std::is_signed<T>::value,
                              std::true_type,
                              std::false_type>::type;

template <class T>
using is_unsigned_int =
    typename std::conditional<is_integral<T>::value &&
                                  std::is_unsigned<T>::value,
                              std::true_type,
                              std::false_type>::type;

template <class T>
using to_unsigned = typename std::conditional<is_signed_int<T>::value,
                                              std::make_unsigned<T>,
                                              std::common_type<T>>::type;

#endif

template <class T>
using is_signed_int_t = std::enable_if_t<is_signed_int<T>::value>;

template <class T>
using is_unsigned_int_t = std::enable_if_t<is_unsigned_int<T>::value>;

template <class T> using to_unsigned_t = typename to_unsigned<T>::type;

}  // namespace internal

}  // namespace atcoder

#include <cassert>
#include <numeric>
#include <type_traits>

#ifdef _MSC_VER
#include <intrin.h>
#endif

namespace atcoder {

namespace internal {

struct modint_base {};
struct static_modint_base : modint_base {};

template <class T> using is_modint = std::is_base_of<modint_base, T>;
template <class T> using is_modint_t = std::enable_if_t<is_modint<T>::value>;

}  // namespace internal

template <int m, std::enable_if_t<(1 <= m)>* = nullptr>
struct static_modint : internal::static_modint_base {
    using mint = static_modint;

  public:
    static constexpr int mod() { return m; }
    static mint raw(int v) {
        mint x;
        x._v = v;
        return x;
    }

    static_modint() : _v(0) {}
    template <class T, internal::is_signed_int_t<T>* = nullptr>
    static_modint(T v) {
        long long x = (long long)(v % (long long)(umod()));
        if (x < 0) x += umod();
        _v = (unsigned int)(x);
    }
    template <class T, internal::is_unsigned_int_t<T>* = nullptr>
    static_modint(T v) {
        _v = (unsigned int)(v % umod());
    }
    static_modint(bool v) { _v = ((unsigned int)(v) % umod()); }

    unsigned int val() const { return _v; }

    mint& operator++() {
        _v++;
        if (_v == umod()) _v = 0;
        return *this;
    }
    mint& operator--() {
        if (_v == 0) _v = umod();
        _v--;
        return *this;
    }
    mint operator++(int) {
        mint result = *this;
        ++*this;
        return result;
    }
    mint operator--(int) {
        mint result = *this;
        --*this;
        return result;
    }

    mint& operator+=(const mint& rhs) {
        _v += rhs._v;
        if (_v >= umod()) _v -= umod();
        return *this;
    }
    mint& operator-=(const mint& rhs) {
        _v -= rhs._v;
        if (_v >= umod()) _v += umod();
        return *this;
    }
    mint& operator*=(const mint& rhs) {
        unsigned long long z = _v;
        z *= rhs._v;
        _v = (unsigned int)(z % umod());
        return *this;
    }
    mint& operator/=(const mint& rhs) { return *this = *this * rhs.inv(); }

    mint operator+() const { return *this; }
    mint operator-() const { return mint() - *this; }

    mint pow(long long n) const {
        assert(0 <= n);
        mint x = *this, r = 1;
        while (n) {
            if (n & 1) r *= x;
            x *= x;
            n >>= 1;
        }
        return r;
    }
    mint inv() const {
        if (prime) {
            assert(_v);
            return pow(umod() - 2);
        } else {
            auto eg = internal::inv_gcd(_v, m);
            assert(eg.first == 1);
            return eg.second;
        }
    }

    friend mint operator+(const mint& lhs, const mint& rhs) {
        return mint(lhs) += rhs;
    }
    friend mint operator-(const mint& lhs, const mint& rhs) {
        return mint(lhs) -= rhs;
    }
    friend mint operator*(const mint& lhs, const mint& rhs) {
        return mint(lhs) *= rhs;
    }
    friend mint operator/(const mint& lhs, const mint& rhs) {
        return mint(lhs) /= rhs;
    }
    friend bool operator==(const mint& lhs, const mint& rhs) {
        return lhs._v == rhs._v;
    }
    friend bool operator!=(const mint& lhs, const mint& rhs) {
        return lhs._v != rhs._v;
    }

  private:
    unsigned int _v;
    static constexpr unsigned int umod() { return m; }
    static constexpr bool prime = internal::is_prime<m>;
};

template <int id> struct dynamic_modint : internal::modint_base {
    using mint = dynamic_modint;

  public:
    static int mod() { return (int)(bt.umod()); }
    static void set_mod(int m) {
        assert(1 <= m);
        bt = internal::barrett(m);
    }
    static mint raw(int v) {
        mint x;
        x._v = v;
        return x;
    }

    dynamic_modint() : _v(0) {}
    template <class T, internal::is_signed_int_t<T>* = nullptr>
    dynamic_modint(T v) {
        long long x = (long long)(v % (long long)(mod()));
        if (x < 0) x += mod();
        _v = (unsigned int)(x);
    }
    template <class T, internal::is_unsigned_int_t<T>* = nullptr>
    dynamic_modint(T v) {
        _v = (unsigned int)(v % mod());
    }
    dynamic_modint(bool v) { _v = ((unsigned int)(v) % mod()); }

    unsigned int val() const { return _v; }

    mint& operator++() {
        _v++;
        if (_v == umod()) _v = 0;
        return *this;
    }
    mint& operator--() {
        if (_v == 0) _v = umod();
        _v--;
        return *this;
    }
    mint operator++(int) {
        mint result = *this;
        ++*this;
        return result;
    }
    mint operator--(int) {
        mint result = *this;
        --*this;
        return result;
    }

    mint& operator+=(const mint& rhs) {
        _v += rhs._v;
        if (_v >= umod()) _v -= umod();
        return *this;
    }
    mint& operator-=(const mint& rhs) {
        _v += mod() - rhs._v;
        if (_v >= umod()) _v -= umod();
        return *this;
    }
    mint& operator*=(const mint& rhs) {
        _v = bt.mul(_v, rhs._v);
        return *this;
    }
    mint& operator/=(const mint& rhs) { return *this = *this * rhs.inv(); }

    mint operator+() const { return *this; }
    mint operator-() const { return mint() - *this; }

    mint pow(long long n) const {
        assert(0 <= n);
        mint x = *this, r = 1;
        while (n) {
            if (n & 1) r *= x;
            x *= x;
            n >>= 1;
        }
        return r;
    }
    mint inv() const {
        auto eg = internal::inv_gcd(_v, mod());
        assert(eg.first == 1);
        return eg.second;
    }

    friend mint operator+(const mint& lhs, const mint& rhs) {
        return mint(lhs) += rhs;
    }
    friend mint operator-(const mint& lhs, const mint& rhs) {
        return mint(lhs) -= rhs;
    }
    friend mint operator*(const mint& lhs, const mint& rhs) {
        return mint(lhs) *= rhs;
    }
    friend mint operator/(const mint& lhs, const mint& rhs) {
        return mint(lhs) /= rhs;
    }
    friend bool operator==(const mint& lhs, const mint& rhs) {
        return lhs._v == rhs._v;
    }
    friend bool operator!=(const mint& lhs, const mint& rhs) {
        return lhs._v != rhs._v;
    }

  private:
    unsigned int _v;
    static internal::barrett bt;
    static unsigned int umod() { return bt.umod(); }
};
template <int id> internal::barrett dynamic_modint<id>::bt = 998244353;

using modint998244353 = static_modint<998244353>;
using modint1000000007 = static_modint<1000000007>;
using modint = dynamic_modint<-1>;

namespace internal {

template <class T>
using is_static_modint = std::is_base_of<internal::static_modint_base, T>;

template <class T>
using is_static_modint_t = std::enable_if_t<is_static_modint<T>::value>;

template <class> struct is_dynamic_modint : public std::false_type {};
template <int id>
struct is_dynamic_modint<dynamic_modint<id>> : public std::true_type {};

template <class T>
using is_dynamic_modint_t = std::enable_if_t<is_dynamic_modint<T>::value>;

}  // namespace internal

}  // namespace atcoder

#include <cassert>
#include <type_traits>
#include <vector>

namespace atcoder {

namespace internal {

template <class mint, internal::is_static_modint_t<mint>* = nullptr>
void butterfly(std::vector<mint>& a) {
    static constexpr int g = internal::primitive_root<mint::mod()>;
    int n = int(a.size());
    int h = internal::ceil_pow2(n);

    static bool first = true;
    static mint sum_e[30];  // sum_e[i] = ies[0] * ... * ies[i - 1] * es[i]
    if (first) {
        first = false;
        mint es[30], ies[30];  // es[i]^(2^(2+i)) == 1
        int cnt2 = bsf(mint::mod() - 1);
        mint e = mint(g).pow((mint::mod() - 1) >> cnt2), ie = e.inv();
        for (int i = cnt2; i >= 2; i--) {
            // e^(2^i) == 1
            es[i - 2] = e;
            ies[i - 2] = ie;
            e *= e;
            ie *= ie;
        }
        mint now = 1;
        for (int i = 0; i <= cnt2 - 2; i++) {
            sum_e[i] = es[i] * now;
            now *= ies[i];
        }
    }
    for (int ph = 1; ph <= h; ph++) {
        int w = 1 << (ph - 1), p = 1 << (h - ph);
        mint now = 1;
        for (int s = 0; s < w; s++) {
            int offset = s << (h - ph + 1);
            for (int i = 0; i < p; i++) {
                auto l = a[i + offset];
                auto r = a[i + offset + p] * now;
                a[i + offset] = l + r;
                a[i + offset + p] = l - r;
            }
            now *= sum_e[bsf(~(unsigned int)(s))];
        }
    }
}

template <class mint, internal::is_static_modint_t<mint>* = nullptr>
void butterfly_inv(std::vector<mint>& a) {
    static constexpr int g = internal::primitive_root<mint::mod()>;
    int n = int(a.size());
    int h = internal::ceil_pow2(n);

    static bool first = true;
    static mint sum_ie[30];  // sum_ie[i] = es[0] * ... * es[i - 1] * ies[i]
    if (first) {
        first = false;
        mint es[30], ies[30];  // es[i]^(2^(2+i)) == 1
        int cnt2 = bsf(mint::mod() - 1);
        mint e = mint(g).pow((mint::mod() - 1) >> cnt2), ie = e.inv();
        for (int i = cnt2; i >= 2; i--) {
            // e^(2^i) == 1
            es[i - 2] = e;
            ies[i - 2] = ie;
            e *= e;
            ie *= ie;
        }
        mint now = 1;
        for (int i = 0; i <= cnt2 - 2; i++) {
            sum_ie[i] = ies[i] * now;
            now *= es[i];
        }
    }

    for (int ph = h; ph >= 1; ph--) {
        int w = 1 << (ph - 1), p = 1 << (h - ph);
        mint inow = 1;
        for (int s = 0; s < w; s++) {
            int offset = s << (h - ph + 1);
            for (int i = 0; i < p; i++) {
                auto l = a[i + offset];
                auto r = a[i + offset + p];
                a[i + offset] = l + r;
                a[i + offset + p] =
                    (unsigned long long)(mint::mod() + l.val() - r.val()) *
                    inow.val();
            }
            inow *= sum_ie[bsf(~(unsigned int)(s))];
        }
    }
}

}  // namespace internal

template <class mint, internal::is_static_modint_t<mint>* = nullptr>
std::vector<mint> convolution(std::vector<mint> a, std::vector<mint> b) {
    int n = int(a.size()), m = int(b.size());
    if (!n || !m) return {};
    if (std::min(n, m) <= 60) {
        if (n < m) {
            std::swap(n, m);
            std::swap(a, b);
        }
        std::vector<mint> ans(n + m - 1);
        for (int i = 0; i < n; i++) {
            for (int j = 0; j < m; j++) {
                ans[i + j] += a[i] * b[j];
            }
        }
        return ans;
    }
    int z = 1 << internal::ceil_pow2(n + m - 1);
    a.resize(z);
    internal::butterfly(a);
    b.resize(z);
    internal::butterfly(b);
    for (int i = 0; i < z; i++) {
        a[i] *= b[i];
    }
    internal::butterfly_inv(a);
    a.resize(n + m - 1);
    mint iz = mint(z).inv();
    for (int i = 0; i < n + m - 1; i++) a[i] *= iz;
    return a;
}

template <unsigned int mod = 998244353,
          class T,
          std::enable_if_t<internal::is_integral<T>::value>* = nullptr>
std::vector<T> convolution(const std::vector<T>& a, const std::vector<T>& b) {
    int n = int(a.size()), m = int(b.size());
    if (!n || !m) return {};

    using mint = static_modint<mod>;
    std::vector<mint> a2(n), b2(m);
    for (int i = 0; i < n; i++) {
        a2[i] = mint(a[i]);
    }
    for (int i = 0; i < m; i++) {
        b2[i] = mint(b[i]);
    }
    auto c2 = convolution(move(a2), move(b2));
    std::vector<T> c(n + m - 1);
    for (int i = 0; i < n + m - 1; i++) {
        c[i] = c2[i].val();
    }
    return c;
}

std::vector<long long> convolution_ll(const std::vector<long long>& a,
                                      const std::vector<long long>& b) {
    int n = int(a.size()), m = int(b.size());
    if (!n || !m) return {};

    static constexpr unsigned long long MOD1 = 754974721;  // 2^24
    static constexpr unsigned long long MOD2 = 167772161;  // 2^25
    static constexpr unsigned long long MOD3 = 469762049;  // 2^26
    static constexpr unsigned long long M2M3 = MOD2 * MOD3;
    static constexpr unsigned long long M1M3 = MOD1 * MOD3;
    static constexpr unsigned long long M1M2 = MOD1 * MOD2;
    static constexpr unsigned long long M1M2M3 = MOD1 * MOD2 * MOD3;

    static constexpr unsigned long long i1 =
        internal::inv_gcd(MOD2 * MOD3, MOD1).second;
    static constexpr unsigned long long i2 =
        internal::inv_gcd(MOD1 * MOD3, MOD2).second;
    static constexpr unsigned long long i3 =
        internal::inv_gcd(MOD1 * MOD2, MOD3).second;

    auto c1 = convolution<MOD1>(a, b);
    auto c2 = convolution<MOD2>(a, b);
    auto c3 = convolution<MOD3>(a, b);

    std::vector<long long> c(n + m - 1);
    for (int i = 0; i < n + m - 1; i++) {
        unsigned long long x = 0;
        x += (c1[i] * i1) % MOD1 * M2M3;
        x += (c2[i] * i2) % MOD2 * M1M3;
        x += (c3[i] * i3) % MOD3 * M1M2;
        // B = 2^63, -B <= x, r(real value) < B
        // (x, x - M, x - 2M, or x - 3M) = r (mod 2B)
        // r = c1[i] (mod MOD1)
        // focus on MOD1
        // r = x, x - M', x - 2M', x - 3M' (M' = M % 2^64) (mod 2B)
        // r = x,
        //     x - M' + (0 or 2B),
        //     x - 2M' + (0, 2B or 4B),
        //     x - 3M' + (0, 2B, 4B or 6B) (without mod!)
        // (r - x) = 0, (0)
        //           - M' + (0 or 2B), (1)
        //           -2M' + (0 or 2B or 4B), (2)
        //           -3M' + (0 or 2B or 4B or 6B) (3) (mod MOD1)
        // we checked that
        //   ((1) mod MOD1) mod 5 = 2
        //   ((2) mod MOD1) mod 5 = 3
        //   ((3) mod MOD1) mod 5 = 4
        long long diff =
            c1[i] - internal::safe_mod((long long)(x), (long long)(MOD1));
        if (diff < 0) diff += MOD1;
        static constexpr unsigned long long offset[5] = {
            0, 0, M1M2M3, 2 * M1M2M3, 3 * M1M2M3};
        x -= offset[diff % 5];
        c[i] = x;
    }

    return c;
}

}  // namespace atcoder


#include <algorithm>
#include <cassert>
#include <vector>

namespace atcoder {

// Implement (union by size) + (path compression)
// Reference:
// Zvi Galil and Giuseppe F. Italiano,
// Data structures and algorithms for disjoint set union problems
struct dsu {
  public:
    dsu() : _n(0) {}
    dsu(int n) : _n(n), parent_or_size(n, -1) {}

    int merge(int a, int b) {
        assert(0 <= a && a < _n);
        assert(0 <= b && b < _n);
        int x = leader(a), y = leader(b);
        if (x == y) return x;
        if (-parent_or_size[x] < -parent_or_size[y]) std::swap(x, y);
        parent_or_size[x] += parent_or_size[y];
        parent_or_size[y] = x;
        return x;
    }

    bool same(int a, int b) {
        assert(0 <= a && a < _n);
        assert(0 <= b && b < _n);
        return leader(a) == leader(b);
    }

    int leader(int a) {
        assert(0 <= a && a < _n);
        if (parent_or_size[a] < 0) return a;
        return parent_or_size[a] = leader(parent_or_size[a]);
    }

    int size(int a) {
        assert(0 <= a && a < _n);
        return -parent_or_size[leader(a)];
    }

    std::vector<std::vector<int>> groups() {
        std::vector<int> leader_buf(_n), group_size(_n);
        for (int i = 0; i < _n; i++) {
            leader_buf[i] = leader(i);
            group_size[leader_buf[i]]++;
        }
        std::vector<std::vector<int>> result(_n);
        for (int i = 0; i < _n; i++) {
            result[i].reserve(group_size[i]);
        }
        for (int i = 0; i < _n; i++) {
            result[leader_buf[i]].push_back(i);
        }
        result.erase(
            std::remove_if(result.begin(), result.end(),
                           [&](const std::vector<int>& v) { return v.empty(); }),
            result.end());
        return result;
    }

  private:
    int _n;
    // root node: -1 * component size
    // otherwise: parent
    std::vector<int> parent_or_size;
};

}  // namespace atcoder


#include <cassert>
#include <vector>

namespace atcoder {

// Reference: https://en.wikipedia.org/wiki/Fenwick_tree
template <class T> struct fenwick_tree {
    using U = internal::to_unsigned_t<T>;

  public:
    fenwick_tree() : _n(0) {}
    fenwick_tree(int n) : _n(n), data(n) {}

    void add(int p, T x) {
        assert(0 <= p && p < _n);
        p++;
        while (p <= _n) {
            data[p - 1] += U(x);
            p += p & -p;
        }
    }

    T sum(int l, int r) {
        assert(0 <= l && l <= r && r <= _n);
        return sum(r) - sum(l);
    }

  private:
    int _n;
    std::vector<U> data;

    U sum(int r) {
        U s = 0;
        while (r > 0) {
            s += data[r - 1];
            r -= r & -r;
        }
        return s;
    }
};

}  // namespace atcoder


#include <algorithm>
#include <cassert>
#include <iostream>
#include <vector>
namespace atcoder {

template <class S,
          S (*op)(S, S),
          S (*e)(),
          class F,
          S (*mapping)(F, S),
          F (*composition)(F, F),
          F (*id)()>
struct lazy_segtree {
  public:
    lazy_segtree() : lazy_segtree(0) {}
    lazy_segtree(int n) : lazy_segtree(std::vector<S>(n, e())) {}
    lazy_segtree(const std::vector<S>& v) : _n(int(v.size())) {
        log = internal::ceil_pow2(_n);
        size = 1 << log;
        d = std::vector<S>(2 * size, e());
        lz = std::vector<F>(size, id());
        for (int i = 0; i < _n; i++) d[size + i] = v[i];
        for (int i = size - 1; i >= 1; i--) {
            update(i);
        }
    }

    void set(int p, S x) {
        assert(0 <= p && p < _n);
        p += size;
        for (int i = log; i >= 1; i--) push(p >> i);
        d[p] = x;
        for (int i = 1; i <= log; i++) update(p >> i);
    }

    S get(int p) {
        assert(0 <= p && p < _n);
        p += size;
        for (int i = log; i >= 1; i--) push(p >> i);
        return d[p];
    }

    S prod(int l, int r) {
        assert(0 <= l && l <= r && r <= _n);
        if (l == r) return e();

        l += size;
        r += size;

        for (int i = log; i >= 1; i--) {
            if (((l >> i) << i) != l) push(l >> i);
            if (((r >> i) << i) != r) push(r >> i);
        }

        S sml = e(), smr = e();
        while (l < r) {
            if (l & 1) sml = op(sml, d[l++]);
            if (r & 1) smr = op(d[--r], smr);
            l >>= 1;
            r >>= 1;
        }

        return op(sml, smr);
    }

    S all_prod() { return d[1]; }

    void apply(int p, F f) {
        assert(0 <= p && p < _n);
        p += size;
        for (int i = log; i >= 1; i--) push(p >> i);
        d[p] = mapping(f, d[p]);
        for (int i = 1; i <= log; i++) update(p >> i);
    }
    void apply(int l, int r, F f) {
        assert(0 <= l && l <= r && r <= _n);
        if (l == r) return;

        l += size;
        r += size;

        for (int i = log; i >= 1; i--) {
            if (((l >> i) << i) != l) push(l >> i);
            if (((r >> i) << i) != r) push((r - 1) >> i);
        }

        {
            int l2 = l, r2 = r;
            while (l < r) {
                if (l & 1) all_apply(l++, f);
                if (r & 1) all_apply(--r, f);
                l >>= 1;
                r >>= 1;
            }
            l = l2;
            r = r2;
        }

        for (int i = 1; i <= log; i++) {
            if (((l >> i) << i) != l) update(l >> i);
            if (((r >> i) << i) != r) update((r - 1) >> i);
        }
    }

    template <bool (*g)(S)> int max_right(int l) {
        return max_right(l, [](S x) { return g(x); });
    }
    template <class G> int max_right(int l, G g) {
        assert(0 <= l && l <= _n);
        assert(g(e()));
        if (l == _n) return _n;
        l += size;
        for (int i = log; i >= 1; i--) push(l >> i);
        S sm = e();
        do {
            while (l % 2 == 0) l >>= 1;
            if (!g(op(sm, d[l]))) {
                while (l < size) {
                    push(l);
                    l = (2 * l);
                    if (g(op(sm, d[l]))) {
                        sm = op(sm, d[l]);
                        l++;
                    }
                }
                return l - size;
            }
            sm = op(sm, d[l]);
            l++;
        } while ((l & -l) != l);
        return _n;
    }

    template <bool (*g)(S)> int min_left(int r) {
        return min_left(r, [](S x) { return g(x); });
    }
    template <class G> int min_left(int r, G g) {
        assert(0 <= r && r <= _n);
        assert(g(e()));
        if (r == 0) return 0;
        r += size;
        for (int i = log; i >= 1; i--) push((r - 1) >> i);
        S sm = e();
        do {
            r--;
            while (r > 1 && (r % 2)) r >>= 1;
            if (!g(op(d[r], sm))) {
                while (r < size) {
                    push(r);
                    r = (2 * r + 1);
                    if (g(op(d[r], sm))) {
                        sm = op(d[r], sm);
                        r--;
                    }
                }
                return r + 1 - size;
            }
            sm = op(d[r], sm);
        } while ((r & -r) != r);
        return 0;
    }

  private:
    int _n, size, log;
    std::vector<S> d;
    std::vector<F> lz;

    void update(int k) { d[k] = op(d[2 * k], d[2 * k + 1]); }
    void all_apply(int k, F f) {
        d[k] = mapping(f, d[k]);
        if (k < size) lz[k] = composition(f, lz[k]);
    }
    void push(int k) {
        all_apply(2 * k, lz[k]);
        all_apply(2 * k + 1, lz[k]);
        lz[k] = id();
    }
};

}  // namespace atcoder


#include <algorithm>
#include <cassert>
#include <tuple>
#include <vector>

namespace atcoder {

long long pow_mod(long long x, long long n, int m) {
    assert(0 <= n && 1 <= m);
    if (m == 1) return 0;
    internal::barrett bt((unsigned int)(m));
    unsigned int r = 1, y = (unsigned int)(internal::safe_mod(x, m));
    while (n) {
        if (n & 1) r = bt.mul(r, y);
        y = bt.mul(y, y);
        n >>= 1;
    }
    return r;
}

long long inv_mod(long long x, long long m) {
    assert(1 <= m);
    auto z = internal::inv_gcd(x, m);
    assert(z.first == 1);
    return z.second;
}

// (rem, mod)
std::pair<long long, long long> crt(const std::vector<long long>& r,
                                    const std::vector<long long>& m) {
    assert(r.size() == m.size());
    int n = int(r.size());
    // Contracts: 0 <= r0 < m0
    long long r0 = 0, m0 = 1;
    for (int i = 0; i < n; i++) {
        assert(1 <= m[i]);
        long long r1 = internal::safe_mod(r[i], m[i]), m1 = m[i];
        if (m0 < m1) {
            std::swap(r0, r1);
            std::swap(m0, m1);
        }
        if (m0 % m1 == 0) {
            if (r0 % m1 != r1) return {0, 0};
            continue;
        }
        // assume: m0 > m1, lcm(m0, m1) >= 2 * max(m0, m1)

        // (r0, m0), (r1, m1) -> (r2, m2 = lcm(m0, m1));
        // r2 % m0 = r0
        // r2 % m1 = r1
        // -> (r0 + x*m0) % m1 = r1
        // -> x*u0*g % (u1*g) = (r1 - r0) (u0*g = m0, u1*g = m1)
        // -> x = (r1 - r0) / g * inv(u0) (mod u1)

        // im = inv(u0) (mod u1) (0 <= im < u1)
        long long g, im;
        std::tie(g, im) = internal::inv_gcd(m0, m1);

        long long u1 = (m1 / g);
        // |r1 - r0| < (m0 + m1) <= lcm(m0, m1)
        if ((r1 - r0) % g) return {0, 0};

        // u1 * u1 <= m1 * m1 / g / g <= m0 * m1 / g = lcm(m0, m1)
        long long x = (r1 - r0) / g % u1 * im % u1;

        // |r0| + |m0 * x|
        // < m0 + m0 * (u1 - 1)
        // = m0 + m0 * m1 / g - m0
        // = lcm(m0, m1)
        r0 += x * m0;
        m0 *= u1;  // -> lcm(m0, m1)
        if (r0 < 0) r0 += m0;
    }
    return {r0, m0};
}

long long floor_sum(long long n, long long m, long long a, long long b) {
    long long ans = 0;
    if (a >= m) {
        ans += (n - 1) * n * (a / m) / 2;
        a %= m;
    }
    if (b >= m) {
        ans += n * (b / m);
        b %= m;
    }

    long long y_max = (a * n + b) / m, x_max = (y_max * m - b);
    if (y_max == 0) return ans;
    ans += (n - (x_max + a - 1) / a) * y_max;
    ans += floor_sum(y_max, a, m, (a - x_max % a) % a);
    return ans;
}

}  // namespace atcoder


#include <algorithm>

#include <vector>

namespace atcoder {

namespace internal {

template <class T> struct simple_queue {
    std::vector<T> payload;
    int pos = 0;
    void reserve(int n) { payload.reserve(n); }
    int size() const { return int(payload.size()) - pos; }
    bool empty() const { return pos == int(payload.size()); }
    void push(const T& t) { payload.push_back(t); }
    T& front() { return payload[pos]; }
    void clear() {
        payload.clear();
        pos = 0;
    }
    void pop() { pos++; }
};

}  // namespace internal

}  // namespace atcoder

#include <cassert>
#include <limits>
#include <queue>
#include <vector>

namespace atcoder {

template <class Cap> struct mf_graph {
  public:
    mf_graph() : _n(0) {}
    mf_graph(int n) : _n(n), g(n) {}

    int add_edge(int from, int to, Cap cap) {
        assert(0 <= from && from < _n);
        assert(0 <= to && to < _n);
        assert(0 <= cap);
        int m = int(pos.size());
        pos.push_back({from, int(g[from].size())});
        int from_id = int(g[from].size());
        int to_id = int(g[to].size());
        if (from == to) to_id++;
        g[from].push_back(_edge{to, to_id, cap});
        g[to].push_back(_edge{from, from_id, 0});
        return m;
    }

    struct edge {
        int from, to;
        Cap cap, flow;
    };

    edge get_edge(int i) {
        int m = int(pos.size());
        assert(0 <= i && i < m);
        auto _e = g[pos[i].first][pos[i].second];
        auto _re = g[_e.to][_e.rev];
        return edge{pos[i].first, _e.to, _e.cap + _re.cap, _re.cap};
    }
    std::vector<edge> edges() {
        int m = int(pos.size());
        std::vector<edge> result;
        for (int i = 0; i < m; i++) {
            result.push_back(get_edge(i));
        }
        return result;
    }
    void change_edge(int i, Cap new_cap, Cap new_flow) {
        int m = int(pos.size());
        assert(0 <= i && i < m);
        assert(0 <= new_flow && new_flow <= new_cap);
        auto& _e = g[pos[i].first][pos[i].second];
        auto& _re = g[_e.to][_e.rev];
        _e.cap = new_cap - new_flow;
        _re.cap = new_flow;
    }

    Cap flow(int s, int t) {
        return flow(s, t, std::numeric_limits<Cap>::max());
    }
    Cap flow(int s, int t, Cap flow_limit) {
        assert(0 <= s && s < _n);
        assert(0 <= t && t < _n);
        assert(s != t);

        std::vector<int> level(_n), iter(_n);
        internal::simple_queue<int> que;

        auto bfs = [&]() {
            std::fill(level.begin(), level.end(), -1);
            level[s] = 0;
            que.clear();
            que.push(s);
            while (!que.empty()) {
                int v = que.front();
                que.pop();
                for (auto e : g[v]) {
                    if (e.cap == 0 || level[e.to] >= 0) continue;
                    level[e.to] = level[v] + 1;
                    if (e.to == t) return;
                    que.push(e.to);
                }
            }
        };
        auto dfs = [&](auto self, int v, Cap up) {
            if (v == s) return up;
            Cap res = 0;
            int level_v = level[v];
            for (int& i = iter[v]; i < int(g[v].size()); i++) {
                _edge& e = g[v][i];
                if (level_v <= level[e.to] || g[e.to][e.rev].cap == 0) continue;
                Cap d =
                    self(self, e.to, std::min(up - res, g[e.to][e.rev].cap));
                if (d <= 0) continue;
                g[v][i].cap += d;
                g[e.to][e.rev].cap -= d;
                res += d;
                if (res == up) break;
            }
            return res;
        };

        Cap flow = 0;
        while (flow < flow_limit) {
            bfs();
            if (level[t] == -1) break;
            std::fill(iter.begin(), iter.end(), 0);
            while (flow < flow_limit) {
                Cap f = dfs(dfs, t, flow_limit - flow);
                if (!f) break;
                flow += f;
            }
        }
        return flow;
    }

    std::vector<bool> min_cut(int s) {
        std::vector<bool> visited(_n);
        internal::simple_queue<int> que;
        que.push(s);
        while (!que.empty()) {
            int p = que.front();
            que.pop();
            visited[p] = true;
            for (auto e : g[p]) {
                if (e.cap && !visited[e.to]) {
                    visited[e.to] = true;
                    que.push(e.to);
                }
            }
        }
        return visited;
    }

  private:
    int _n;
    struct _edge {
        int to, rev;
        Cap cap;
    };
    std::vector<std::pair<int, int>> pos;
    std::vector<std::vector<_edge>> g;
};

}  // namespace atcoder


#include <algorithm>
#include <cassert>
#include <limits>
#include <queue>
#include <vector>

namespace atcoder {

template <class Cap, class Cost> struct mcf_graph {
  public:
    mcf_graph() {}
    mcf_graph(int n) : _n(n), g(n) {}

    int add_edge(int from, int to, Cap cap, Cost cost) {
        assert(0 <= from && from < _n);
        assert(0 <= to && to < _n);
        int m = int(pos.size());
        pos.push_back({from, int(g[from].size())});
        int from_id = int(g[from].size());
        int to_id = int(g[to].size());
        if (from == to) to_id++;
        g[from].push_back(_edge{to, to_id, cap, cost});
        g[to].push_back(_edge{from, from_id, 0, -cost});
        return m;
    }

    struct edge {
        int from, to;
        Cap cap, flow;
        Cost cost;
    };

    edge get_edge(int i) {
        int m = int(pos.size());
        assert(0 <= i && i < m);
        auto _e = g[pos[i].first][pos[i].second];
        auto _re = g[_e.to][_e.rev];
        return edge{
            pos[i].first, _e.to, _e.cap + _re.cap, _re.cap, _e.cost,
        };
    }
    std::vector<edge> edges() {
        int m = int(pos.size());
        std::vector<edge> result(m);
        for (int i = 0; i < m; i++) {
            result[i] = get_edge(i);
        }
        return result;
    }

    std::pair<Cap, Cost> flow(int s, int t) {
        return flow(s, t, std::numeric_limits<Cap>::max());
    }
    std::pair<Cap, Cost> flow(int s, int t, Cap flow_limit) {
        return slope(s, t, flow_limit).back();
    }
    std::vector<std::pair<Cap, Cost>> slope(int s, int t) {
        return slope(s, t, std::numeric_limits<Cap>::max());
    }
    std::vector<std::pair<Cap, Cost>> slope(int s, int t, Cap flow_limit) {
        assert(0 <= s && s < _n);
        assert(0 <= t && t < _n);
        assert(s != t);
        // variants (C = maxcost):
        // -(n-1)C <= dual[s] <= dual[i] <= dual[t] = 0
        // reduced cost (= e.cost + dual[e.from] - dual[e.to]) >= 0 for all edge
        std::vector<Cost> dual(_n, 0), dist(_n);
        std::vector<int> pv(_n), pe(_n);
        std::vector<bool> vis(_n);
        auto dual_ref = [&]() {
            std::fill(dist.begin(), dist.end(),
                      std::numeric_limits<Cost>::max());
            std::fill(pv.begin(), pv.end(), -1);
            std::fill(pe.begin(), pe.end(), -1);
            std::fill(vis.begin(), vis.end(), false);
            struct Q {
                Cost key;
                int to;
                bool operator<(Q r) const { return key > r.key; }
            };
            std::priority_queue<Q> que;
            dist[s] = 0;
            que.push(Q{0, s});
            while (!que.empty()) {
                int v = que.top().to;
                que.pop();
                if (vis[v]) continue;
                vis[v] = true;
                if (v == t) break;
                // dist[v] = shortest(s, v) + dual[s] - dual[v]
                // dist[v] >= 0 (all reduced cost are positive)
                // dist[v] <= (n-1)C
                for (int i = 0; i < int(g[v].size()); i++) {
                    auto e = g[v][i];
                    if (vis[e.to] || !e.cap) continue;
                    // |-dual[e.to] + dual[v]| <= (n-1)C
                    // cost <= C - -(n-1)C + 0 = nC
                    Cost cost = e.cost - dual[e.to] + dual[v];
                    if (dist[e.to] - dist[v] > cost) {
                        dist[e.to] = dist[v] + cost;
                        pv[e.to] = v;
                        pe[e.to] = i;
                        que.push(Q{dist[e.to], e.to});
                    }
                }
            }
            if (!vis[t]) {
                return false;
            }

            for (int v = 0; v < _n; v++) {
                if (!vis[v]) continue;
                // dual[v] = dual[v] - dist[t] + dist[v]
                //         = dual[v] - (shortest(s, t) + dual[s] - dual[t]) + (shortest(s, v) + dual[s] - dual[v])
                //         = - shortest(s, t) + dual[t] + shortest(s, v)
                //         = shortest(s, v) - shortest(s, t) >= 0 - (n-1)C
                dual[v] -= dist[t] - dist[v];
            }
            return true;
        };
        Cap flow = 0;
        Cost cost = 0, prev_cost_per_flow = -1;
        std::vector<std::pair<Cap, Cost>> result;
        result.push_back({flow, cost});
        while (flow < flow_limit) {
            if (!dual_ref()) break;
            Cap c = flow_limit - flow;
            for (int v = t; v != s; v = pv[v]) {
                c = std::min(c, g[pv[v]][pe[v]].cap);
            }
            for (int v = t; v != s; v = pv[v]) {
                auto& e = g[pv[v]][pe[v]];
                e.cap -= c;
                g[v][e.rev].cap += c;
            }
            Cost d = -dual[s];
            flow += c;
            cost += c * d;
            if (prev_cost_per_flow == d) {
                result.pop_back();
            }
            result.push_back({flow, cost});
            prev_cost_per_flow = d;
        }
        return result;
    }

  private:
    int _n;

    struct _edge {
        int to, rev;
        Cap cap;
        Cost cost;
    };

    std::vector<std::pair<int, int>> pos;
    std::vector<std::vector<_edge>> g;
};

}  // namespace atcoder


#include <algorithm>

#include <algorithm>
#include <utility>
#include <vector>

namespace atcoder {
namespace internal {

template <class E> struct csr {
    std::vector<int> start;
    std::vector<E> elist;
    csr(int n, const std::vector<std::pair<int, E>>& edges)
        : start(n + 1), elist(edges.size()) {
        for (auto e : edges) {
            start[e.first + 1]++;
        }
        for (int i = 1; i <= n; i++) {
            start[i] += start[i - 1];
        }
        auto counter = start;
        for (auto e : edges) {
            elist[counter[e.first]++] = e.second;
        }
    }
};

// Reference:
// R. Tarjan,
// Depth-First Search and Linear Graph Algorithms
struct scc_graph {
  public:
    scc_graph(int n) : _n(n) {}

    int num_vertices() { return _n; }

    void add_edge(int from, int to) { edges.push_back({from, {to}}); }

    // @return pair of (# of scc, scc id)
    std::pair<int, std::vector<int>> scc_ids() {
        auto g = csr<edge>(_n, edges);
        int now_ord = 0, group_num = 0;
        std::vector<int> visited, low(_n), ord(_n, -1), ids(_n);
        visited.reserve(_n);
        auto dfs = [&](auto self, int v) -> void {
            low[v] = ord[v] = now_ord++;
            visited.push_back(v);
            for (int i = g.start[v]; i < g.start[v + 1]; i++) {
                auto to = g.elist[i].to;
                if (ord[to] == -1) {
                    self(self, to);
                    low[v] = std::min(low[v], low[to]);
                } else {
                    low[v] = std::min(low[v], ord[to]);
                }
            }
            if (low[v] == ord[v]) {
                while (true) {
                    int u = visited.back();
                    visited.pop_back();
                    ord[u] = _n;
                    ids[u] = group_num;
                    if (u == v) break;
                }
                group_num++;
            }
        };
        for (int i = 0; i < _n; i++) {
            if (ord[i] == -1) dfs(dfs, i);
        }
        for (auto& x : ids) {
            x = group_num - 1 - x;
        }
        return {group_num, ids};
    }

    std::vector<std::vector<int>> scc() {
        auto ids = scc_ids();
        int group_num = ids.first;
        std::vector<int> counts(group_num);
        for (auto x : ids.second) counts[x]++;
        std::vector<std::vector<int>> groups(ids.first);
        for (int i = 0; i < group_num; i++) {
            groups[i].reserve(counts[i]);
        }
        for (int i = 0; i < _n; i++) {
            groups[ids.second[i]].push_back(i);
        }
        return groups;
    }

  private:
    int _n;
    struct edge {
        int to;
    };
    std::vector<std::pair<int, edge>> edges;
};

}  // namespace internal

}  // namespace atcoder

#include <cassert>
#include <vector>

namespace atcoder {

struct scc_graph {
  public:
    scc_graph() : internal(0) {}
    scc_graph(int n) : internal(n) {}

    void add_edge(int from, int to) {
        int n = internal.num_vertices();
        assert(0 <= from && from < n);
        assert(0 <= to && to < n);
        internal.add_edge(from, to);
    }

    std::vector<std::vector<int>> scc() { return internal.scc(); }

  private:
    internal::scc_graph internal;
};

}  // namespace atcoder


#include <algorithm>
#include <cassert>
#include <vector>

namespace atcoder {

template <class S, S (*op)(S, S), S (*e)()> struct segtree {
  public:
    segtree() : segtree(0) {}
    segtree(int n) : segtree(std::vector<S>(n, e())) {}
    segtree(const std::vector<S>& v) : _n(int(v.size())) {
        log = internal::ceil_pow2(_n);
        size = 1 << log;
        d = std::vector<S>(2 * size, e());
        for (int i = 0; i < _n; i++) d[size + i] = v[i];
        for (int i = size - 1; i >= 1; i--) {
            update(i);
        }
    }

    void set(int p, S x) {
        assert(0 <= p && p < _n);
        p += size;
        d[p] = x;
        for (int i = 1; i <= log; i++) update(p >> i);
    }

    S get(int p) {
        assert(0 <= p && p < _n);
        return d[p + size];
    }

    S prod(int l, int r) {
        assert(0 <= l && l <= r && r <= _n);
        S sml = e(), smr = e();
        l += size;
        r += size;

        while (l < r) {
            if (l & 1) sml = op(sml, d[l++]);
            if (r & 1) smr = op(d[--r], smr);
            l >>= 1;
            r >>= 1;
        }
        return op(sml, smr);
    }

    S all_prod() { return d[1]; }

    template <bool (*f)(S)> int max_right(int l) {
        return max_right(l, [](S x) { return f(x); });
    }
    template <class F> int max_right(int l, F f) {
        assert(0 <= l && l <= _n);
        assert(f(e()));
        if (l == _n) return _n;
        l += size;
        S sm = e();
        do {
            while (l % 2 == 0) l >>= 1;
            if (!f(op(sm, d[l]))) {
                while (l < size) {
                    l = (2 * l);
                    if (f(op(sm, d[l]))) {
                        sm = op(sm, d[l]);
                        l++;
                    }
                }
                return l - size;
            }
            sm = op(sm, d[l]);
            l++;
        } while ((l & -l) != l);
        return _n;
    }

    template <bool (*f)(S)> int min_left(int r) {
        return min_left(r, [](S x) { return f(x); });
    }
    template <class F> int min_left(int r, F f) {
        assert(0 <= r && r <= _n);
        assert(f(e()));
        if (r == 0) return 0;
        r += size;
        S sm = e();
        do {
            r--;
            while (r > 1 && (r % 2)) r >>= 1;
            if (!f(op(d[r], sm))) {
                while (r < size) {
                    r = (2 * r + 1);
                    if (f(op(d[r], sm))) {
                        sm = op(d[r], sm);
                        r--;
                    }
                }
                return r + 1 - size;
            }
            sm = op(d[r], sm);
        } while ((r & -r) != r);
        return 0;
    }

  private:
    int _n, size, log;
    std::vector<S> d;

    void update(int k) { d[k] = op(d[2 * k], d[2 * k + 1]); }
};

}  // namespace atcoder


#include <algorithm>
#include <cassert>
#include <numeric>
#include <string>
#include <vector>

namespace atcoder {

namespace internal {

std::vector<int> sa_naive(const std::vector<int>& s) {
    int n = int(s.size());
    std::vector<int> sa(n);
    std::iota(sa.begin(), sa.end(), 0);
    std::sort(sa.begin(), sa.end(), [&](int l, int r) {
        if (l == r) return false;
        while (l < n && r < n) {
            if (s[l] != s[r]) return s[l] < s[r];
            l++;
            r++;
        }
        return l == n;
    });
    return sa;
}

std::vector<int> sa_doubling(const std::vector<int>& s) {
    int n = int(s.size());
    std::vector<int> sa(n), rnk = s, tmp(n);
    std::iota(sa.begin(), sa.end(), 0);
    for (int k = 1; k < n; k *= 2) {
        auto cmp = [&](int x, int y) {
            if (rnk[x] != rnk[y]) return rnk[x] < rnk[y];
            int rx = x + k < n ? rnk[x + k] : -1;
            int ry = y + k < n ? rnk[y + k] : -1;
            return rx < ry;
        };
        std::sort(sa.begin(), sa.end(), cmp);
        tmp[sa[0]] = 0;
        for (int i = 1; i < n; i++) {
            tmp[sa[i]] = tmp[sa[i - 1]] + (cmp(sa[i - 1], sa[i]) ? 1 : 0);
        }
        std::swap(tmp, rnk);
    }
    return sa;
}

// SA-IS, linear-time suffix array construction
// Reference:
// G. Nong, S. Zhang, and W. H. Chan,
// Two Efficient Algorithms for Linear Time Suffix Array Construction
template <int THRESHOLD_NAIVE = 10, int THRESHOLD_DOUBLING = 40>
std::vector<int> sa_is(const std::vector<int>& s, int upper) {
    int n = int(s.size());
    if (n == 0) return {};
    if (n == 1) return {0};
    if (n == 2) {
        if (s[0] < s[1]) {
            return {0, 1};
        } else {
            return {1, 0};
        }
    }
    if (n < THRESHOLD_NAIVE) {
        return sa_naive(s);
    }
    if (n < THRESHOLD_DOUBLING) {
        return sa_doubling(s);
    }

    std::vector<int> sa(n);
    std::vector<bool> ls(n);
    for (int i = n - 2; i >= 0; i--) {
        ls[i] = (s[i] == s[i + 1]) ? ls[i + 1] : (s[i] < s[i + 1]);
    }
    std::vector<int> sum_l(upper + 1), sum_s(upper + 1);
    for (int i = 0; i < n; i++) {
        if (!ls[i]) {
            sum_s[s[i]]++;
        } else {
            sum_l[s[i] + 1]++;
        }
    }
    for (int i = 0; i <= upper; i++) {
        sum_s[i] += sum_l[i];
        if (i < upper) sum_l[i + 1] += sum_s[i];
    }

    auto induce = [&](const std::vector<int>& lms) {
        std::fill(sa.begin(), sa.end(), -1);
        std::vector<int> buf(upper + 1);
        std::copy(sum_s.begin(), sum_s.end(), buf.begin());
        for (auto d : lms) {
            if (d == n) continue;
            sa[buf[s[d]]++] = d;
        }
        std::copy(sum_l.begin(), sum_l.end(), buf.begin());
        sa[buf[s[n - 1]]++] = n - 1;
        for (int i = 0; i < n; i++) {
            int v = sa[i];
            if (v >= 1 && !ls[v - 1]) {
                sa[buf[s[v - 1]]++] = v - 1;
            }
        }
        std::copy(sum_l.begin(), sum_l.end(), buf.begin());
        for (int i = n - 1; i >= 0; i--) {
            int v = sa[i];
            if (v >= 1 && ls[v - 1]) {
                sa[--buf[s[v - 1] + 1]] = v - 1;
            }
        }
    };

    std::vector<int> lms_map(n + 1, -1);
    int m = 0;
    for (int i = 1; i < n; i++) {
        if (!ls[i - 1] && ls[i]) {
            lms_map[i] = m++;
        }
    }
    std::vector<int> lms;
    lms.reserve(m);
    for (int i = 1; i < n; i++) {
        if (!ls[i - 1] && ls[i]) {
            lms.push_back(i);
        }
    }

    induce(lms);

    if (m) {
        std::vector<int> sorted_lms;
        sorted_lms.reserve(m);
        for (int v : sa) {
            if (lms_map[v] != -1) sorted_lms.push_back(v);
        }
        std::vector<int> rec_s(m);
        int rec_upper = 0;
        rec_s[lms_map[sorted_lms[0]]] = 0;
        for (int i = 1; i < m; i++) {
            int l = sorted_lms[i - 1], r = sorted_lms[i];
            int end_l = (lms_map[l] + 1 < m) ? lms[lms_map[l] + 1] : n;
            int end_r = (lms_map[r] + 1 < m) ? lms[lms_map[r] + 1] : n;
            bool same = true;
            if (end_l - l != end_r - r) {
                same = false;
            } else {
                while (l < end_l) {
                    if (s[l] != s[r]) {
                        break;
                    }
                    l++;
                    r++;
                }
                if (l == n || s[l] != s[r]) same = false;
            }
            if (!same) rec_upper++;
            rec_s[lms_map[sorted_lms[i]]] = rec_upper;
        }

        auto rec_sa =
            sa_is<THRESHOLD_NAIVE, THRESHOLD_DOUBLING>(rec_s, rec_upper);

        for (int i = 0; i < m; i++) {
            sorted_lms[i] = lms[rec_sa[i]];
        }
        induce(sorted_lms);
    }
    return sa;
}

}  // namespace internal

std::vector<int> suffix_array(const std::vector<int>& s, int upper) {
    assert(0 <= upper);
    for (int d : s) {
        assert(0 <= d && d <= upper);
    }
    auto sa = internal::sa_is(s, upper);
    return sa;
}

template <class T> std::vector<int> suffix_array(const std::vector<T>& s) {
    int n = int(s.size());
    std::vector<int> idx(n);
    iota(idx.begin(), idx.end(), 0);
    sort(idx.begin(), idx.end(), [&](int l, int r) { return s[l] < s[r]; });
    std::vector<int> s2(n);
    int now = 0;
    for (int i = 0; i < n; i++) {
        if (i && s[idx[i - 1]] != s[idx[i]]) now++;
        s2[idx[i]] = now;
    }
    return internal::sa_is(s2, now);
}

std::vector<int> suffix_array(const std::string& s) {
    int n = int(s.size());
    std::vector<int> s2(n);
    for (int i = 0; i < n; i++) {
        s2[i] = s[i];
    }
    return internal::sa_is(s2, 255);
}

// Reference:
// T. Kasai, G. Lee, H. Arimura, S. Arikawa, and K. Park,
// Linear-Time Longest-Common-Prefix Computation in Suffix Arrays and Its
// Applications
template <class T>
std::vector<int> lcp_array(const std::vector<T>& s,
                           const std::vector<int>& sa) {
    int n = int(s.size());
    assert(n >= 1);
    std::vector<int> rnk(n);
    for (int i = 0; i < n; i++) {
        rnk[sa[i]] = i;
    }
    std::vector<int> lcp(n - 1);
    int h = 0;
    for (int i = 0; i < n; i++) {
        if (h > 0) h--;
        if (rnk[i] == 0) continue;
        int j = sa[rnk[i] - 1];
        for (; j + h < n && i + h < n; h++) {
            if (s[j + h] != s[i + h]) break;
        }
        lcp[rnk[i] - 1] = h;
    }
    return lcp;
}

std::vector<int> lcp_array(const std::string& s, const std::vector<int>& sa) {
    int n = int(s.size());
    std::vector<int> s2(n);
    for (int i = 0; i < n; i++) {
        s2[i] = s[i];
    }
    return lcp_array(s2, sa);
}

// Reference:
// D. Gusfield,
// Algorithms on Strings, Trees, and Sequences: Computer Science and
// Computational Biology
template <class T> std::vector<int> z_algorithm(const std::vector<T>& s) {
    int n = int(s.size());
    if (n == 0) return {};
    std::vector<int> z(n);
    z[0] = 0;
    for (int i = 1, j = 0; i < n; i++) {
        int& k = z[i];
        k = (j + z[j] <= i) ? 0 : std::min(j + z[j] - i, z[i - j]);
        while (i + k < n && s[k] == s[i + k]) k++;
        if (j + z[j] < i + z[i]) j = i;
    }
    z[0] = n;
    return z;
}

std::vector<int> z_algorithm(const std::string& s) {
    int n = int(s.size());
    std::vector<int> s2(n);
    for (int i = 0; i < n; i++) {
        s2[i] = s[i];
    }
    return z_algorithm(s2);
}

}  // namespace atcoder


#include <cassert>
#include <vector>

namespace atcoder {

// Reference:
// B. Aspvall, M. Plass, and R. Tarjan,
// A Linear-Time Algorithm for Testing the Truth of Certain Quantified Boolean
// Formulas
struct two_sat {
  public:
    two_sat() : _n(0), scc(0) {}
    two_sat(int n) : _n(n), _answer(n), scc(2 * n) {}

    void add_clause(int i, bool f, int j, bool g) {
        assert(0 <= i && i < _n);
        assert(0 <= j && j < _n);
        scc.add_edge(2 * i + (f ? 0 : 1), 2 * j + (g ? 1 : 0));
        scc.add_edge(2 * j + (g ? 0 : 1), 2 * i + (f ? 1 : 0));
    }
    bool satisfiable() {
        auto id = scc.scc_ids().second;
        for (int i = 0; i < _n; i++) {
            if (id[2 * i] == id[2 * i + 1]) return false;
            _answer[i] = id[2 * i] < id[2 * i + 1];
        }
        return true;
    }
    std::vector<bool> answer() { return _answer; }

  private:
    int _n;
    std::vector<bool> _answer;
    internal::scc_graph scc;
};

}  // namespace atcoder


using namespace std;
using namespace atcoder;
typedef long long ll;
/*
#define i_7 (ll)(1E9+7)
//#define i_7 998244353
#define i_5 i_7-2
ll mod(ll a){
    ll c=a%i_7;
    if(c>=0)return c;
    return c+i_7;
}
void Add(ll &pos,ll val){pos=mod(pos+val);}
void mod_print(ll k){
    ll P=50000;
    rep(y,1,P){
        ll x=mod(y*k);
        
        if(abs(x)<=P||x+P>=i_7){
            if(x+P>=i_7){
                x-=i_7;
            }
            cout<<x<<"/"<<y<<endl;
            //cout<<setprecision(5)<<(dd)x/(dd)y;
            return;
        }
    }
    cout<<"nun"<<endl;
}
*/
/*
#include "boost/multiprecision/cpp_int.hpp"
#include "boost/multiprecision/cpp_dec_float.hpp"
namespace mp = boost::multiprecision;
typedef mp::cpp_int LL;
typedef mp::number<mp::cpp_dec_float<1024>> DD;// 仮数部が1024ビットの浮動小数点数型(TLEしたら小さくする)
*/
//typedef long double dd;
typedef double dd;
typedef pair<ll,ll> l_l;
typedef pair<dd,dd> d_d;
ll inf=(ll)1E16;
#define rep(i,l,r) for(ll i=l;i<=r;i++)
#define rrep(i,r,l) for(ll i=r;i>=l;i--)
#define pb push_back
ll max(ll a,ll b){if(a<b)return b;else return a;}
ll min(ll a,ll b){if(a>b)return b;else return a;}
void Max(ll &pos,ll val){pos=max(pos,val);}//Max(dp[n],dp[n-1]);
void Min(ll &pos,ll val){pos=min(pos,val);}
dd EPS=1E-12;
#define fastio ios::sync_with_stdio(false); cin.tie(0); cout.tie(0);
#define fi first
#define se second

#define SORT(v) sort(v.begin(),v.end())
#define ERASE(v) v.erase(unique(v.begin(),v.end()),v.end())
#define POSL(v,x) (lower_bound(v.begin(),v.end(),x)-v.begin())
#define POSU(v,x) (upper_bound(v.begin(),v.end(),x)-v.begin())
template<class T,class S>
inline bool chmax(T &a, S b) {
    if(a < b) {
        a = (T)b;
        return true;
    }
    return false;
}
template<class T,class S>
inline bool chmin(T &a, S b) {
    if(a > b) {
        a = (T)b;
        return true;
    }
    return false;
}
#define endl "\n"  //インタラクティブで消す！！！！！！！！！！！！！！！！！！！！！
#define all(c) c.begin(),c.end()

//using mint = modint998244353;
using mint = modint1000000007;
//using mint=modint;
//using mint=static_modint<100>;

typedef vector<ll> vl;
typedef vector<mint>vi;
dd PI=acos((dd)-1);
//////////////////////////
/////////////////////////////////////////////////////////////////

typedef pair<dd,int> i_d;
#define MAX_V 1005//調節！！！！！！！！！！！！！！！！！！！！！！！！
struct edge{int to;dd cost;};
dd d[MAX_V];//頂点sからの最短距離
int V;//頂点数！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！
vector<edge>G[MAX_V];
void dijkstra(int s){
    priority_queue<i_d,vector<i_d>,greater<i_d>> que;//firstは最短距離、secondは頂点の番号
    fill(d,d+V+1,inf);//頂点番号は0~V-1でも1~Vでもお好きな方で
    d[s]=0;
    que.push(i_d(0,s));
    while(!que.empty()){
        //greater<i_i>なのでfirstが小さい順に取り出せる！
        i_d p=que.top();que.pop();
        int v=p.second;
        if(d[v]<p.first)continue;
        for(int i=0;i<G[v].size();i++){
            edge e=G[v][i];
            if(d[e.to]>d[v]+e.cost){
                d[e.to]=d[v]+e.cost;
                que.push({d[e.to],e.to});
            }
        }
    }
}
////////////////////////////////////////
 
dd dis(dd x1,dd y1,dd x2,dd y2){
    return sqrt((dd)pow(x1-x2,2.0)+dd(pow(y1-y2,2.0)));
}
int main(){
    int xs,ys,xt,yt;cin>>xs>>ys>>xt>>yt;
    int n;cin>>n;
    V=n+2;
    ll point[n+2][3];
    rep(i,1,n){
        rep(j,0,2){
            cin>>point[i][j];
        }
    }
    point[0][0]=xs;point[0][1]=ys;point[0][2]=0;
    point[n+1][0]=xt;point[n+1][1]=yt;point[n+1][2]=0;
    rep(i,0,n+1){
        rep(j,i+1,n+1){
            dd distance=dis(point[i][0],point[i][1],point[j][0],point[j][1]);
            distance-=point[i][2]+point[j][2];
            chmax(distance,0);
            edge e;
            e.to=j;e.cost=distance;
            G[i].pb(e);
            e.to=i;
            G[j].pb(e);
        }
    }
    dijkstra(0);
    cout<<setprecision(20)<<d[n+1]<<endl;
    
    return 0;
}