// need
#include <iostream>
#include <algorithm>

// data structure
#include <bitset>
//#include <list>
#include <map>
#include <queue>
#include <set>
#include <stack>
#include <string>
#include <utility>
#include <vector>
//#include <array>
//#include <tuple>
#include <unordered_map>
#include <unordered_set>
//#include <complex>
//#include <deque>

// stream
//#include <istream>
//#include <sstream>
//#include <ostream>

// etc
#include <cassert>
#include <functional>
#include <iomanip>
//#include <typeinfo>
//#include <chrono>
#include <random>

#define INIT std::ios::sync_with_stdio(false);std::cin.tie(0);
#define VAR(type, ...)type __VA_ARGS__;Scan(__VA_ARGS__);
template<typename T> void Scan(T& t) { std::cin >> t; }
template<typename First, typename...Rest>void Scan(First& first, Rest&...rest) { std::cin >> first; Scan(rest...); }
#define OUT(d) std::cout<<d;
#define FOUT(n, d) std::cout<<std::fixed<<std::setprecision(n)<<d;
#define SOUT(n, c, d) std::cout<<std::setw(n)<<std::setfill(c)<<d;
#define SP std::cout<<" ";
#define TAB std::cout<<"\t";
#define BR std::cout<<"\n";
#define ENDL std::cout<<std::endl;
#define FLUSH std::cout<<std::flush;
#define VEC(type, c, n) std::vector<type> c(n);for(auto& i:c)std::cin>>i;
#define MAT(type, c, m, n) std::vector<std::vector<type>> c(m, std::vector<type>(n));for(auto& r:c)for(auto& i:r)std::cin>>i;
#define ALL(a) (a).begin(),(a).end()
#define FOR(i, a, b) for(int i=(a);i<(b);++i)
#define RFOR(i, a, b) for(int i=(b)-1;i>=(a);--i)
#define REP(i, n) for(int i=0;i<int(n);++i)
#define RREP(i, n) for(int i=(n)-1;i>=0;--i)
#define FORLL(i, a, b) for(ll i=ll(a);i<ll(b);++i)
#define RFORLL(i, a, b) for(ll i=ll(b)-1;i>=ll(a);--i)
#define REPLL(i, n) for(ll i=0;i<ll(n);++i)
#define RREPLL(i, n) for(ll i=ll(n)-1;i>=0;--i)
#define PAIR std::pair<int, int>
#define PAIRLL std::pair<ll, ll>
#define IN(a, x, b) (a<=x && x<b)
#define SHOW(d) {std::cerr << #d << "\t:" << d << "\n";}
#define SHOWVECTOR(v) {std::cerr << #v << "\t:";for(const auto& xxx : v){std::cerr << xxx << " ";}std::cerr << "\n";}
#define SHOWVECTOR2(v) {std::cerr << #v << "\t:\n";for(const auto& xxx : v){for(const auto& yyy : xxx){std::cerr << yyy << " ";}std::cerr << "\n";}}
#define SHOWPAIR(p) {std::cerr << #p << "\t:(" << p.first << ",\t" << p.second << ")\n";}
#define SHOWPAIRVECTOR2(v) {std::cerr << #v << "\t:\n";for(const auto& xxx : v){for(const auto& yyy : xxx){std::cerr<<'('<<yyy.first<<", "<<yyy.second<<") ";}std::cerr << "\n";}}
#define SHOWPAIRVECTOR(v) {for(const auto& xxx:v){std::cerr<<'('<<xxx.first<<", "<<xxx.second<<") ";}std::cerr<<"\n";}
#define SHOWQUEUE(a) {std::queue<decltype(a.front())> tmp(a);std::cerr << #a << "\t:";for(int i=0; i<static_cast<int>(a.size()); ++i){std::cerr << tmp.front() << "\n";tmp.pop();}std::cerr << "\n";}
template<typename T> inline T CHMAX(T& a, const T b) { return a = (a < b) ? b : a; }
template<typename T> inline T CHMIN(T& a, const T b) { return a = (a > b) ? b : a; }
#define EXCEPTION(msg) throw std::string("Exception : " msg " [ in ") + __func__ + " : " + std::to_string(__LINE__) + " lines ]"
#define TRY(cond, msg) try {if (cond) EXCEPTION(msg);}catch (std::string s) {std::cerr << s << std::endl;}
//void CHECKTIME(std::function<void()> f) { auto start = std::chrono::system_clock::now(); f(); auto end = std::chrono::system_clock::now(); auto res = std::chrono::duration_cast<std::chrono::nanoseconds>((end - start)).count(); std::cerr << "[Time:" << res << "ns  (" << res / (1.0e9) << "s)]\n"; }

#define int ll
using ll = long long;
using ull = unsigned long long;
constexpr int INFINT = 1 << 30;                          // 1.07x10^ 9
constexpr int INFINT_LIM = (1LL << 31) - 1;              // 2.15x10^ 9
constexpr ll INFLL = 1LL << 60;                          // 1.15x10^18
constexpr ll INFLL_LIM = (1LL << 62) - 1 + (1LL << 62);  // 9.22x10^19
constexpr double EPS = 1e-9;
constexpr int MOD = 1000000007;
constexpr double PI = 3.141592653589793238;

struct Edge {
	int to;
	double cost;
	Edge() {}
	Edge(int t, double c) : to(t), cost(c) {}
	bool operator<(const Edge& r) const {
		return cost < r.cost;
	}
};

signed main() {
	INIT;
	VAR(int, xs, ys, xt, yt);
	VAR(int, n);
	std::vector<std::vector<Edge>> graph(n + 2, std::vector<Edge>(n + 2));
	std::vector<double> x(n + 2), y(n + 2), r(n + 2);
	REP(i, n) {
		std::cin >> x[i] >> y[i] >> r[i];
	}
	x[n] = xs, y[n] = ys, r[n] = 0;
	x[n + 1] = xt, y[n + 1] = yt, r[n + 1] = 0;
	REP(i, n + 2) REP(j, n + 2) {
		graph[i][j] = Edge(j, std::max(0.0, std::sqrt(std::pow(x[i] - x[j], 2) + std::pow(y[i] - y[j], 2)) - r[i] - r[j]));
	}
	std::vector<double> dist(n + 2);
	std::function<void(int)> Dijkstra = [&](int s) {
		using P = std::pair<double, int>;
		std::priority_queue<P, std::vector<P>, std::greater<P>> pq;
		std::fill(dist.begin(), dist.end(), 1e308);
		dist[s] = 0;
		pq.push(P(0, s));
		while (!pq.empty()) {
			P p = pq.top(); pq.pop();
			int v = p.second;
			if (dist[v] < p.first) continue;
			for (int i = 0; i < graph[v].size(); ++i) {
				Edge e = graph[v][i];
				if (dist[e.to] > dist[v] + e.cost) {
					dist[e.to] = dist[v] + e.cost;
					pq.push(P(dist[e.to], e.to));
				}
			}
		}
	};
	Dijkstra(n);
	FOUT(16, dist[n + 1])BR;
	return 0;
}

Measured memory_bytes: 20208