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.IO;
using static System.Console;
using static System.Convert;
using static System.Math;
//using static System.Globalization.CultureInfo;
using System.Text;
class Program
{
    private static bool chmin<T>(ref T num, T val) where T : IComparable<T>
    { if (num.CompareTo(val) == 1) { num = val;return true; } return false; }
    private static bool chmax<T>(ref T num, T val) where T : IComparable<T>
    { if (num.CompareTo(val) == -1) { num = val;return true; }return false; }
    private static void swap<T>(ref T v1, ref T v2)
    { var t = v2; v2 = v1; v1 = t; }
    static void Main(string[] args)
    {
        var pr = new Program();
        var sw = new StreamWriter(Console.OpenStandardOutput()) { AutoFlush = false };
        Console.SetOut(sw);
        pr.Solve();
        Console.Out.Flush();
    }
    void Solve()
    {
        int sx, sy, tx, ty;
        Input.Make(out sx, out sy, out tx, out ty);
        var num = Input.num;
        var edge = Enumerable.Repeat(0, num + 2).Select(_ => new double[num + 2]).ToArray();
        var xyr = new List<long[]> { new[] { sx, sy, 0L }, new[] { tx, ty, 0L } };
        xyr.AddRange(Input.arL2D(num));
        for(var i=0;i<xyr.Count();i++)
            for (var j = i + 1; j < xyr.Count(); j++)
            {
                var dist = Max(0, Sqrt((xyr[i][0] - xyr[j][0]) * (xyr[i][0] - xyr[j][0]) + (xyr[i][1] - xyr[j][1]) * (xyr[i][1] - xyr[j][1])) - (xyr[i][2] + xyr[j][2]));
                edge[i][j] = dist;
                edge[j][i] = dist;
            }
        WriteLine(Dijkstra(edge, 0)[1]);
    }

    public static double[] Dijkstra(double[][] edge, int st)
    {
        var dist = Enumerable.Repeat(double.MaxValue, edge.Length).ToArray();
        var th = new bool[edge.Length];
        dist[st] = 0;
        while (true)
        {
            var minj = -1;
            var min = double.MaxValue;
            for (var i = 0; i < edge.Length; i++)
                if (!th[i] && chmin(ref min, dist[i]))
                    minj = i;
            if (minj == -1) break;
            th[minj] = true;
            for (var i = 0; i < edge.Length; i++)
                chmin(ref dist[i], dist[minj] + edge[i][minj]);
        }
        return dist;
    }
}


public class PriorityQueue<T> where T : IComparable<T>
{
    public List<T> _item;
    public int Count { get { return _item.Count; } }
    public bool IsMaxHeap { get; set; }
    public T Peek { get { return _item[0]; } }
    public PriorityQueue(bool IsMaxHeap = true, IEnumerable<T> list = null)
    {
        _item = new List<T>();
        this.IsMaxHeap = IsMaxHeap;
        if (list != null)
        {
            _item.AddRange(list);
            Build();
        }
    }
    private int Compare(int i, int j) => (IsMaxHeap ? 1 : -1) * _item[i].CompareTo(_item[j]);
    private void Swap(int i, int j) { var t = _item[i]; _item[i] = _item[j]; _item[j] = t; }
    private int Parent(int i)
        => (i - 1) >> 1;
    private int Left(int i)
        => (i << 1) + 1;
    public T Enqueue(T val)
    {
        int i = _item.Count;
        _item.Add(val);
        while (i > 0)
        {
            int p = Parent(i);
            if (Compare(i, p) > 0)
                Swap(i, p);
            i = p;
        }
        return val;
    }
    private void Heapify(int index)
    {
        for (int i = index, j; (j = Left(i)) < _item.Count; i = j)
        {
            if (j != _item.Count - 1 && Compare(j, j + 1) < 0) j++;
            if (Compare(i, j) < 0)
                Swap(i, j);
        }
    }
    public T Dequeue()
    {
        T val = _item[0];
        _item[0] = _item[_item.Count - 1];
        _item.RemoveAt(_item.Count - 1);
        Heapify(0);
        return val;
    }
    private void Build()
    {
        for (var i = (_item.Count >> 1) - 1; i >= 0; i--)
            Heapify(i);
    }
}

public class Input
{
    public static string read => ReadLine().Trim();
    public static int[] ar => read.Split(' ').Select(int.Parse).ToArray();
    public static int num => ToInt32(read);
    public static long[] arL => read.Split(' ').Select(long.Parse).ToArray();
    public static long numL => ToInt64(read);
    public static T[] create<T>(int n, Func<int, T> f)
        => Enumerable.Repeat(0, n).Select(f).ToArray();
    public static char[][] grid(int h)
        => create(h, _ => read.ToCharArray());
    public static int[] ar1D(int n)
        => create(n, _ => num);
    public static long[] arL1D(int n)
        => create(n, _ => numL);
    public static string[] strs(int n)
        => create(n, _ => read);
    public static int[][] ar2D(int n)
        => create(n, _ => ar);
    public static long[][] arL2D(int n)
        => create(n, _ => arL);
    public static List<T>[] edge<T>(int n)
        => create(n, _ => new List<T>());
    public static T GetValue<T>(string g)
    {
        var t = typeof(T);
        if (t == typeof(int))
            return (T)(object)int.Parse(g);
        if (t == typeof(long))
            return (T)(object)long.Parse(g);
        if (t == typeof(string))
            return (T)(object)g;
        if (t == typeof(char))
            return (T)(object)char.Parse(g);
        if (t == typeof(double))
            return (T)(object)double.Parse(g);
        if (t == typeof(bool))
            return (T)(object)bool.Parse(g);
        return default(T);
    }
    public static void Make<T1, T2>(out T1 v1, out T2 v2)
    {
        v1 = Next<T1>();
        v2 = Next<T2>();
    }
    public static void Make<T1, T2, T3>(out T1 v1, out T2 v2, out T3 v3)
    {
        Make(out v1, out v2);
        v3 = Next<T3>();
    }
    public static void Make<T1, T2, T3, T4>(out T1 v1, out T2 v2, out T3 v3, out T4 v4)
    {
        Make(out v1, out v2, out v3);
        v4 = Next<T4>();
    }
    public static void Make<T1, T2, T3, T4, T5>(out T1 v1, out T2 v2, out T3 v3, out T4 v4, out T5 v5)
    {
        Make(out v1, out v2, out v3, out v4);
        v5 = Next<T5>();
    }
    public static void Make<T1, T2, T3, T4, T5, T6>(out T1 v1, out T2 v2, out T3 v3, out T4 v4, out T5 v5, out T6 v6)
    {
        Make(out v1, out v2, out v3, out v4, out v5);
        v6 = Next<T6>();
    }
    private static Queue<string> sc;
    public static T Next<T>() { sc = sc ?? new Queue<string>(); if (sc.Count == 0) foreach (var item in read.Split(' ')) sc.Enqueue(item); return GetValue<T>(sc.Dequeue()); }
    public static void Next<T>(ref T val) => val = Next<T>();
    public const long Inf = (long)1e18;
    public const double eps = 1e-6;
    public const string Alfa = "abcdefghijklmnopqrstuvwxyz";
    public const int MOD = 1000000007;
}

public class Pair<T1, T2> : IComparable<Pair<T1, T2>>
{
    public T1 v1 { get; set; }
    public T2 v2 { get; set; }
    public Pair() { v1 = Input.Next<T1>(); v2 = Input.Next<T2>(); }
    public Pair(T1 v1, T2 v2)
    { this.v1 = v1; this.v2 = v2; }

    public int CompareTo(Pair<T1, T2> p)
    {
        var c = Comparer<T1>.Default.Compare(v1, p.v1);
        if (c == 0)
            c = Comparer<T2>.Default.Compare(v2, p.v2);
        return c;
    }
    public override string ToString()
        => $"{v1.ToString()} {v2.ToString()}";
    public override bool Equals(object obj)
        => this == (Pair<T1, T2>)obj;
    public override int GetHashCode()
        => v1.GetHashCode() ^ v2.GetHashCode();
    public static bool operator ==(Pair<T1, T2> p1, Pair<T1, T2> p2)
        => p1.CompareTo(p2) == 0;
    public static bool operator !=(Pair<T1, T2> p1, Pair<T1, T2> p2)
        => p1.CompareTo(p2) != 0;
    public static bool operator >(Pair<T1, T2> p1, Pair<T1, T2> p2)
        => p1.CompareTo(p2) == 1;
    public static bool operator >=(Pair<T1, T2> p1, Pair<T1, T2> p2)
        => p1.CompareTo(p2) != -1;
    public static bool operator <(Pair<T1, T2> p1, Pair<T1, T2> p2)
        => p1.CompareTo(p2) == -1;
    public static bool operator <=(Pair<T1, T2> p1, Pair<T1, T2> p2)
        => p1.CompareTo(p2) != 1;
}

public class Pair<T1, T2, T3> : Pair<T1, T2>, IComparable<Pair<T1, T2, T3>>
{
    public T3 v3 { get; set; }
    public Pair() : base() { v3 = Input.Next<T3>(); }
    public Pair(T1 v1, T2 v2, T3 v3) : base(v1, v2)
    { this.v3 = v3; }

    public int CompareTo(Pair<T1, T2, T3> p)
    {
        var c = base.CompareTo(p);
        if (c == 0)
            c = Comparer<T3>.Default.Compare(v3, p.v3);
        return c;
    }
    public override string ToString()
        => $"{base.ToString()} {v3.ToString()}";
}