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 Java8 (OpenJDK 1.8.0) (judge verdict: Time Limit Exceeded)


import java.io.*;
import java.math.*;
import java.util.*;

import static java.util.Arrays.*;

public class Main {
	private static final int mod = (int)1e9+7;

	final Random random = new Random(0);
	final IOFast io = new IOFast();

	/// MAIN CODE
	public void run() throws IOException {
//		int TEST_CASE = Integer.parseInt(new String(io.nextLine()).trim());
		int TEST_CASE = 1;
		while(TEST_CASE-- != 0) {
			int xs = io.nextInt();
			int ys = io.nextInt();
			int xt = io.nextInt();
			int yt = io.nextInt();
			int n = io.nextInt();
			int[][] c = io.nextIntArray2D(n, 3);
			
			int S = n, T = n + 1;
			WeightedAdjListGraph g = new WeightedAdjListGraph(n + 2, (n + 2) * (n + 2));
			g.addEdge(S, T, dist(xt-xs, yt-ys, 0));
			for (int i = 0; i < n; i++) {
				g.addEdge(S, i, dist(c[i][0]-xs, c[i][1]-ys, c[i][2]));
				g.addEdge(i, T, dist(c[i][0]-xt, c[i][1]-yt, c[i][2]));
				for (int j = 0; j < i; j++) {
					g.addEdge(i, j, dist(c[i][0]-c[j][0], c[i][1]-c[j][1], c[i][2]+c[j][2]));
					g.addEdge(j, i, dist(c[i][0]-c[j][0], c[i][1]-c[j][1], c[i][2]+c[j][2]));
				}
			}
			
			io.out.printf("%.10f\n", g.dijkstra(S)[T]);
		}
	}
	
	static double dist(double dx, double dy, double sumC) {
		return Math.max(Math.sqrt(dx*dx+dy*dy)-sumC, 0.0);
	}
	
	static
	class WeightedAdjListGraph {
		int m, V, E;
		int[] head, next, to;
		double[] cost;
	
		public WeightedAdjListGraph(int V, int E) {
			head = new int[V];
			next = new int[E];
			cost = new double[E];
			to = new int[E];
			this.V = V;
			this.E = E;
			clear();
		}
	
		public void clear() {
			m = 0;
			Arrays.fill(head, -1);
		}
	
		public void addEdge(int s, int t, double c) {
			next[m] = head[s];
			cost[m] = c;
			head[s] = m;
			to[m++] = t;
		}
		
		static class State implements Comparable<State> {
			final int v;
			final double c;
			
			public State(double c, int v) {
				this.v = v;
				this.c = c;
			}

			@Override
			public int compareTo(State o) {
				return -Double.compare(c, o.c);
			}
		}
		
		static final double eps = 1e-9;
		public double[] dijkstra(final int s) {
			final double[] dist = new double[head.length];
			final PriorityQueue<State> q = new PriorityQueue<State>();

			Arrays.fill(dist, Double.POSITIVE_INFINITY);
			dist[s] = 0;
			q.add(new State(0, s));
			while(!q.isEmpty()) {
				final State xs = q.poll();
				final int v = xs.v;
				final double d = xs.c;
				if(dist[v] < d) continue;
				
				for(int e = head[v]; e != -1; e = next[e]) {
					final int t = to[e];
					final double w = d + cost[e];
					if(w + eps < dist[t]) {
						dist[t] = w;
						q.add(new State(w, t));
					}
				}
			}
			for(int i = 0; i < dist.length; i++) {
				if(dist[i] == Double.POSITIVE_INFINITY) {
					dist[i] = -1;
				}
			}
			return dist;
		}
		
	}
	

	/// TEMPLATE
	static int gcd(int n, int r) { return r == 0 ? n : gcd(r, n%r); }
	static long gcd(long n, long r) { return r == 0 ? n : gcd(r, n%r); }
	
	static <T> void swap(T[] x, int i, int j) { T t = x[i]; x[i] = x[j]; x[j] = t; }
	static void swap(int[] x, int i, int j) { int t = x[i]; x[i] = x[j]; x[j] = t; }

	void printArrayLn(int[] xs) { for(int i = 0; i < xs.length; i++) io.out.print(xs[i] + (i==xs.length-1?"\n":" ")); }
	void printArrayLn(long[] xs) { for(int i = 0; i < xs.length; i++) io.out.print(xs[i] + (i==xs.length-1?"\n":" ")); }
	
	static void dump(Object... o) { System.err.println(Arrays.deepToString(o)); } 
	
	void main() throws IOException {
		//		IOFast.setFileIO("rle-size.in", "rle-size.out");
		try { run(); }
		catch (EndOfFileRuntimeException e) { }
		io.out.flush();
	}
	public static void main(String[] args) throws IOException { new Main().main(); }
	
	static class EndOfFileRuntimeException extends RuntimeException {
		private static final long serialVersionUID = -8565341110209207657L; }

	static
	public class IOFast {
		private BufferedReader in = new BufferedReader(new InputStreamReader(System.in));
		private PrintWriter out = new PrintWriter(System.out);

		void setFileIn(String ins) throws IOException { in.close(); in = new BufferedReader(new FileReader(ins)); }
		void setFileOut(String outs) throws IOException { out.flush(); out.close(); out = new PrintWriter(new FileWriter(outs)); }
		void setFileIO(String ins, String outs) throws IOException { setFileIn(ins); setFileOut(outs); }

		private static int pos, readLen;
		private static final char[] buffer = new char[1024 * 8];
		private static char[] str = new char[500*8*2];
		private static boolean[] isDigit = new boolean[256];
		private static boolean[] isSpace = new boolean[256];
		private static boolean[] isLineSep = new boolean[256];

		static { for(int i = 0; i < 10; i++) { isDigit['0' + i] = true; } isDigit['-'] = true; isSpace[' '] = isSpace['\r'] = isSpace['\n'] = isSpace['\t'] = true; isLineSep['\r'] = isLineSep['\n'] = true; }
		public int read() throws IOException { if(pos >= readLen) { pos = 0; readLen = in.read(buffer); if(readLen <= 0) { throw new EndOfFileRuntimeException(); } } return buffer[pos++]; }
		public int nextInt() throws IOException { int len = 0; str[len++] = nextChar(); len = reads(len, isSpace); int i = 0; int ret = 0; if(str[0] == '-') { i = 1; } for(; i < len; i++) ret = ret * 10 + str[i] - '0'; if(str[0] == '-') { ret = -ret; } return ret; }
		public long nextLong() throws IOException { int len = 0; str[len++] = nextChar(); len = reads(len, isSpace); int i = 0; long ret = 0; if(str[0] == '-') { i = 1; } for(; i < len; i++) ret = ret * 10 + str[i] - '0'; if(str[0] == '-') { ret = -ret; } return ret; }
		public char nextChar() throws IOException { while(true) { final int c = read(); if(!isSpace[c]) { return (char)c; } } }
		int reads(int len, boolean[] accept) throws IOException { try { while(true) { final int c = read(); if(accept[c]) { break; } if(str.length == len) { char[] rep = new char[str.length * 3 / 2]; System.arraycopy(str, 0, rep, 0, str.length); str = rep; } str[len++] = (char)c; } } catch(EndOfFileRuntimeException e) { ; } return len; }
		int reads(char[] cs, int len, boolean[] accept) throws IOException { try { while(true) { final int c = read(); if(accept[c]) { break; } cs[len++] = (char)c; } } catch(EndOfFileRuntimeException e) { ; } return len; }
		public char[] nextLine() throws IOException { int len = 0; str[len++] = nextChar(); len = reads(len, isLineSep); try { if(str[len-1] == '\r') { len--; read(); } } catch(EndOfFileRuntimeException e) { ; } return Arrays.copyOf(str, len); }
		public String nextString() throws IOException { return new String(next()); }
		public char[] next() throws IOException { int len = 0; str[len++] = nextChar(); len = reads(len, isSpace); return Arrays.copyOf(str, len); }
//		public int next(char[] cs) throws IOException { int len = 0; cs[len++] = nextChar(); len = reads(cs, len, isSpace); return len; }
		public double nextDouble() throws IOException { return Double.parseDouble(nextString()); }
		public long[] nextLongArray(final int n) throws IOException { final long[] res = new long[n]; for(int i = 0; i < n; i++) { res[i] = nextLong(); } return res; }
		public int[] nextIntArray(final int n) throws IOException { final int[] res = new int[n]; for(int i = 0; i < n; i++) { res[i] = nextInt(); } return res; }
		public int[][] nextIntArray2D(final int n, final int k) throws IOException { final int[][] res = new int[n][]; for(int i = 0; i < n; i++) { res[i] = nextIntArray(k); } return res; }
		public int[][] nextIntArray2DWithIndex(final int n, final int k) throws IOException { final int[][] res = new int[n][k+1]; for(int i = 0; i < n; i++) { for(int j = 0; j < k; j++) { res[i][j] = nextInt(); } res[i][k] = i; } return res; }
		public double[] nextDoubleArray(final int n) throws IOException { final double[] res = new double[n]; for(int i = 0; i < n; i++) { res[i] = nextDouble(); } return res; }
	}
}