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# (Mono 4.6.2.0) (judge verdict: Accepted)

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

// using System.Numerics;
using System.Runtime.CompilerServices;
using System.Diagnostics;
using ll=System.Int64;
using static Contest_C.Lib_IO;
using static Contest_C.Lib_Minifunc;



public static class Contest_C
{

	public static void Main() {
		checked{
			double  x1,y1,x2,y2;
			ll n;
			Lib_IO.rm(out x1, out y1,out x2, out y2);
			Lib_IO.rm(out n);
			P<double,double,double>[] xyr;
			rl(n,out xyr);

			List<P<ll,ll,double>> edge = new List<P<ll, ll, double>>();
			edge.Add(new P<ll, ll, double>(n,n+1,Math.Sqrt((x1-x2)*(x1-x2)+(y1-y2)*(y1-y2))));
			for (int i = 0; i < n; i++)
			{
				double xx = xyr[i].A-x2;
				double yy = xyr[i].B-y2;
				double d = max(Math.Sqrt(xx*xx+yy*yy)-xyr[i].C,0.0);
				edge.Add(new P<ll, ll, double>(i,n+1,d));
			}
			for (int i = 0; i < n; i++)
			{
				double xx = xyr[i].A-x1;
				double yy = xyr[i].B-y1;
				double d = max(Math.Sqrt(xx*xx+yy*yy)-xyr[i].C,0.0);
				edge.Add(new P<ll, ll, double>(n,i,d));
			}
			for (int i = 0; i < n-1; i++)
			{
				for (int j = i+1; j < n; j++)
				{
					double xx = xyr[i].A-xyr[j].A;
					double yy = xyr[i].B-xyr[j].B;
					double d = max(Math.Sqrt(xx*xx+yy*yy)-xyr[i].C-xyr[j].C,0.0);
					edge.Add(new P<ll, ll, double>(i,j,d));
				}
			}

			ll[] prev;
			var ans = Dijkstra(edge.ToArray(), n+2, n, out prev);

			Lib_IO.wm(ans[n+1]);
		}
	}


	public static long[] RestoreRoute(long[] prev, long end){
		var path = new List<long>();
		for(long u = end; u >= 0; u = prev[u]) path.Add(u);
		path.Reverse();
		return path.ToArray();
	}

	public static double[] Dijkstra(P<long,long,double>[] inEdges, long V, long start, out long[] prev) {
		double[] dist = Enumerable.Repeat((double)long.MaxValue, (int)V).ToArray();
		prev = Enumerable.Repeat(-1L, (int)V).ToArray();
		var G = new Dictionary<long,double>[V]; 
		for(int i=0;i<V;i++) G[i] = new Dictionary<long,double>();
		foreach(var e in inEdges){
			G[e.A][e.B] = e.C;
			G[e.B][e.A] = e.C;
		}

		var que = new PriorityQueue<KeyValuePair<double, long>>(V, (x,y)=>(x.Key.CompareTo(y.Key)));
		dist[start] = 0;
		que.Enqueue(new KeyValuePair<double, long>(dist[start], start));
		while(0<que.Count) {
			var q = que.Dequeue();
			if(dist[q.Value] < q.Key) continue;
			foreach(var e in G[q.Value]){
				var next_cost = q.Key + e.Value;
				if(dist[e.Key] <= next_cost) continue;
				dist[e.Key] = next_cost;
				que.Enqueue(new KeyValuePair<double, long>(dist[e.Key], e.Key));
			   	prev[e.Key] = q.Value;
			}
		}
		return dist;
	}
	

public class PriorityQueue<T>
{
	private readonly List<T> heap;
	private readonly Comparison<T> compare;
	private int size;
	public PriorityQueue() : this(Comparer<T>.Default) {} 
	public PriorityQueue(IComparer<T> comparer) : this(16, comparer.Compare) { }
	public PriorityQueue(Comparison<T> comparison) : this(16, comparison) { }
	public PriorityQueue(long capacity, Comparison<T> comparison)
	{
		this.heap = new List<T>((int)capacity);
		this.compare = comparison;
	}
	public void Enqueue(T item)
	{
		this.heap.Add(item);
		var i = size++;
		while (i > 0)
		{
			var p = (i - 1) >> 1;
			if (compare(this.heap[p], item) <= 0)
				break;
			this.heap[i] = heap[p];
			i = p;
		}
		this.heap[i] = item;

	}
	public T Dequeue()
	{
		var ret = this.heap[0];
		var x = this.heap[--size];
		var i = 0;
		while ((i << 1) + 1 < size)
		{
			var a = (i << 1) + 1;
			var b = (i << 1) + 2;
			if (b < size && compare(heap[b], heap[a]) < 0) a = b;
			if (compare(heap[a], x) >= 0)
				break;
			heap[i] = heap[a];
			i = a;
		}
		heap[i] = x;
		heap.RemoveAt(size);
		return ret;
	}
	public T Peek() { return heap[0]; }
	public long Count { get { return size; } }
	public bool Any() { return size > 0; }
}













#region BaseModule


public static class Lib_Minifunc{
	[MethodImpl(256)] public static void swap1<T>(ref T a, ref T b) { T t = a; a = b; b = t; }
	[MethodImpl(256)] public static void swap2<T>(ref T a, ref T b) where T : IComparable { if (a.CompareTo(b)==1) swap1(ref a, ref b); }  // b の方が小さければ交換
	[MethodImpl(256)] public static bool chmin<T>(ref T a, T b) where T : IComparable { if (a.CompareTo(b)== 1) { a = b; return true; } return false; }  // b の方が小さければ a を更新
	[MethodImpl(256)] public static bool chmax<T>(ref T a, T b) where T : IComparable { if (a.CompareTo(b)==-1) { a = b; return true; } return false; }  // b の方が大きければ a を更新
	[MethodImpl(256)] public static bool inside(long i, long n) => (0<=i&&i<n);
	[MethodImpl(256)] public static bool inside(long x, long y, long w, long h) => (inside(x,w)&&inside(y,h));
	[MethodImpl(256)] public static T min<T>(params T[] a) where T : IComparable => a.Min();
	[MethodImpl(256)] public static T max<T>(params T[] a) where T : IComparable => a.Max();
	[MethodImpl(256)] public static long mod(long a, long m=MOD1) { var v = a%m; return (v<0?v+m:v); }
	[MethodImpl(256)] public static long ceiling(long a, long b) => (a%b==0?a/b:a/b+1);	// 整数商の切り上げ
	[MethodImpl(256)] public static P<T,U> initp<T,U>(T a,U b) => new P<T,U>(a,b);
	[MethodImpl(256)] public static P<T,U,V> initp<T,U,V>(T a,U b,V c) => new P<T,U,V>(a,b,c);
	[MethodImpl(256)] public static P<T,U,V,W> initp<T,U,V,W>(T a,U b,V c,W d) => new P<T,U,V,W>(a,b,c,d);
	[MethodImpl(256)] public static bool initd<T,U>(Dictionary<T,U> d, T k) { if(d.ContainsKey(k)) { return false; } else { d[k] = default(U); return true; } }
	public static T[] inita<T>(long len1) where T : new() { var m = new T[len1]; for (int i=0;i<m.Length;i++) m[i] = new T(); return m; }
	public static T[][] initm<T>(long len1,long len2,T val) where T : struct { var m = new T[len1][]; for (int i=0;i<m.Length;i++) m[i] = Enumerable.Repeat(val,(int)len2).ToArray(); return m; }
	public static T[][][] initm<T>(long len1,long len2,long len3,T val) where T : struct { var m = new T[len1][][]; for (int i=0;i<m.Length;i++) m[i] = initm(len2,len3,val); return m; }
	public const long MOD1 = 1000000007; // 10^9+7
	public const double EPS1 = 1e-8;
	public const long INF1 = 1000000000000000;  // 10^15
}

public struct P<T,U>
{
	public T A; public U B;
	public P(T a,U b) { A = a; B = b; }
	public static implicit operator KeyValuePair<T,U>(P<T,U> a) => new KeyValuePair<T,U>(a.A,a.B);
	public static implicit operator P<T,U>(KeyValuePair<T,U> a) => new P<T,U>(a.Key,a.Value);
}
public struct P<T,U,V>
{
	public T A; public U B; public V C;
	public P(T a,U b,V c) { A = a; B = b; C = c; }
}
public struct P<T,U,V,W>
{
	public T A; public U B; public V C; public W D;
	public P(T a,U b,V c,W d) { A = a; B = b; C = c; D = d; }
}

public static class Lib_IO
{
	class Prt : System.IO.StreamWriter
	{
		public override IFormatProvider FormatProvider { get { return System.Globalization.CultureInfo.InvariantCulture; } }
		public Prt(System.IO.Stream s) : base(s,new UTF8Encoding(false,true)) {}
		public Prt(System.IO.Stream s,Encoding e) : base(s,e) {}
	}
	static Prt sw = new Prt(Console.OpenStandardOutput());
	static char[] sp = new char[] {' '};
	[MethodImpl(256)] static bool eq<T,U>() => typeof(T).Equals(typeof(U));
	[MethodImpl(256)] static T ct<T,U>(U a) => (T)Convert.ChangeType(a,typeof(T));
	[MethodImpl(256)] static T cv<T>(string s) =>
		eq<T,int>()	? ct<T,int>(int.Parse(s))
	  : eq<T,long>()   ? ct<T,long>(long.Parse(s))
	  : eq<T,double>() ? ct<T,double>(double.Parse(s,System.Globalization.CultureInfo.InvariantCulture))
	  : eq<T,char>()   ? ct<T,char>(s[0])
					   : ct<T,string>(s);
	public static string[] rm<T>(out T a) {
		var z = Console.ReadLine().Split(sp,StringSplitOptions.RemoveEmptyEntries); 
		a = cv<T>(z[0]);
		return z;
	}
	public static string[] rm<T,U>(out T a,out U b) {
		var z = rm<T>(out a); 
		b = cv<U>(z[1]);
		return z;
	}
	public static string[] rm<T,U,V>(out T a,out U b,out V c) {
		var z = rm<T,U>(out a,out b); 
		c = cv<V>(z[2]);
		return z;
	}
	public static string[] rm<T,U,V,W>(out T a,out U b,out V c,out W d) {
		var z = rm<T,U,V>(out a,out b,out c); 
		d = cv<W>(z[3]);
		return z;
	}
	public static string[] rm<T,U,V,W,X>(out T a,out U b,out V c,out W d,out X e) {
		var z = rm<T,U,V,W>(out a,out b,out c,out d); 
		e = cv<X>(z[4]);
		return z;
	}
	public static string[] rm<T,U,V,W,X,Y>(out T a,out U b,out V c,out W d,out X e,out Y f) {
		var z = rm<T,U,V,W,X>(out a,out b,out c,out d,out e); 
		f = cv<Y>(z[5]);
		return z;
	}
	public static string[] ra<T>(out T[] a) {		
		var z = Console.ReadLine().Split(sp,StringSplitOptions.RemoveEmptyEntries);
		a = z.Select(cv<T>).ToArray();
		return z;
	}
	public static string[][] rl<T>(long n,out T[] a) {
		a = new T[n];
		var y = new string[n][];
		for(int i=0;i<n;i++) y[i] = rm(out a[i]);
		return y;
	}
	public static string[][] rl<T,U>(long n,out P<T,U>[] a) {
		a = new P<T,U>[n];
		var y = new string[n][];
		for(int i=0;i<n;i++) {
			T o; U p;
			y[i] = rm(out o,out p);
			a[i] = new P<T,U>(o,p);
		}
		return y;
	}
	public static string[][] rl<T,U,V>(long n,out P<T,U,V>[] a) {
		a = new P<T,U,V>[n];
		var y = new string[n][];
		for(int i=0;i<n;i++) {
			T o; U p; V q;
			y[i] = rm(out o,out p,out q);
			a[i] = new P<T,U,V>(o,p,q);
		}
		return y;
	}
	public static string[][] rl<T,U,V,W>(long n,out P<T,U,V,W>[] a) {
		a = new P<T,U,V,W>[n];
		var y = new string[n][];
		for(int i=0;i<n;i++) {
			T o; U p; V q; W r;
			y[i] = rm(out o,out p,out q,out r);
			a[i] = new P<T,U,V,W>(o,p,q,r);
		}
		return y;
	}
	public static string[][] rx<T>(long n,out T[][] a) {
		a = new T[n][];
		var y = new string[n][];
		for(int i=0;i<n;i++) y[i] = ra(out a[i]);
		return y;
	}

	static void wwp(Action act){
		sw.AutoFlush = false;
		Console.SetOut(sw);
		act();
		Console.Out.Flush();
		sw.AutoFlush = true;
		Console.SetOut(sw);
	}
	[MethodImpl(256)] static string wfm(Type t) =>t.Equals(typeof(double)) ? "{0:F10}" : "{0}";
	public static void wm(params object[] a) {
		wwp(()=>{
			for(int i=0;i<a.Length-1;i++) Console.Write(wfm(a[i].GetType())+" ",a[i]);
			Console.WriteLine(wfm(a[a.Length-1].GetType()),a[a.Length-1]);
		});
	}
	public static void wa<T>(IList<T> a) { wxa(new IList<T>[]{a}, " "); }
	public static void wl<T>(IList<T> a) {
		wwp(()=>{
			var f = wfm(typeof(T));
			foreach(T x in a) Console.WriteLine(f,x);
		});
	}
	static void wxa<T>(IList<IList<T>> a, string s) {
		wwp(()=>{
			var f = wfm(typeof(T));
			var g = f + s;
			foreach(var b in a) {
				for(int i=0;i<b.Count-1;i++) Console.Write(g,b[i]);
				Console.WriteLine(f,b[b.Count-1]);
			}
		});
	}
	public static void wx<T>(IList<IList<T>> a) { wxa(a, " "); }
	public static void wg<T>(IList<IList<T>> a) { wxa(a, ""); }
}

#endregion



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