#include <bits/stdc++.h>
using namespace std;
using LL = long long int;
#define incII(i, l, r) for(LL i = (l)    ; i <= (r); i++)
#define incID(i, l, r) for(LL i = (l)    ; i <  (r); i++)
#define incCI(i, l, r) for(LL i = (l) + 1; i <= (r); i++)
#define incCD(i, l, r) for(LL i = (l) + 1; i <  (r); i++)
#define decII(i, l, r) for(LL i = (r)    ; i >= (l); i--)
#define decID(i, l, r) for(LL i = (r) - 1; i >= (l); i--)
#define decCI(i, l, r) for(LL i = (r)    ; i >  (l); i--)
#define decCD(i, l, r) for(LL i = (r) - 1; i >  (l); i--)
#define inc(i, n)  incID(i, 0, n)
#define dec(i, n)  decID(i, 0, n)
#define inc1(i, n) incII(i, 1, n)
#define dec1(i, n) decII(i, 1, n)
auto inII = [](auto v, auto l, auto r) { return (l <= v && v <= r); };
auto inID = [](auto v, auto l, auto r) { return (l <= v && v <  r); };
auto inCI = [](auto v, auto l, auto r) { return (l <  v && v <= r); };
auto inCD = [](auto v, auto l, auto r) { return (l <  v && v <  r); };
#define PB push_back
#define EB emplace_back
#define MP make_pair
#define MT make_tuple
#define FI first
#define SE second
#define FR front()
#define BA back()
#define ALL(v) v.begin(), v.end()
#define RALL(v) v.rbegin(), v.rend()
auto setmin   = [](auto & a, auto b) { return (b <  a ? a = b, true : false); };
auto setmax   = [](auto & a, auto b) { return (b >  a ? a = b, true : false); };
auto setmineq = [](auto & a, auto b) { return (b <= a ? a = b, true : false); };
auto setmaxeq = [](auto & a, auto b) { return (b >= a ? a = b, true : false); };
#define SC static_cast
#define SI(v) SC<int>(v.size())
#define SL(v) SC<LL >(v.size())
#define RF(e, v) for(auto & e: v)
#define until(e) while(! (e))
#define if_not(e) if(! (e))
#define ef else if
#define UR assert(false)
#define CT continue
#define RV(v) reverse(ALL(v))
auto * IS = & cin;
// input elements (as a tuple)
template<typename U, int I> void in_([[maybe_unused]] U & t) { }
template<typename U, int I, typename A, typename ... B> void in_(U & t) { (* IS) >> get<I>(t); in_<U, I + 1, B ...>(t); }
template<typename ... T> auto in() { tuple<T ...> t; in_<tuple<T ...>, 0, T ...>(t); return t; }
// input an array
template<typename T, int N> auto ain() { array<T, N> a; inc(i, N) { (* IS) >> a[i]; } return a; }
// input a (multi-dimensional) vector
template<typename T> T vin() { T v; (* IS) >> v; return v; }
template<typename T, typename N, typename ... M> auto vin(N n, M ... m) {
	vector<decltype(vin<T, M ...>(m ...))> v(n); inc(i, n) { v[i] = vin<T, M ...>(m ...); } return v;
}
// input multi-column (as a tuple of vector)
template<typename U, int I> void colin_([[maybe_unused]] U & t) { }
template<typename U, int I, typename A, typename ... B> void colin_(U & t) {
	A a; (* IS) >> a; get<I>(t).push_back(a); colin_<U, I + 1, B ...>(t);
}
template<typename ... T> auto colin(int n) {
	tuple<vector<T> ...> t; inc(i, n) { colin_<tuple<vector<T> ...>, 0, T ...>(t); } return t;
}
auto * OS = & cout;
// output elements
void out_([[maybe_unused]] string s) { }
template<typename A> void out_([[maybe_unused]] string s, A && a) { (* OS) << a; }
template<typename A, typename ... B> void out_(string s, A && a, B && ... b) { (* OS) << a << s; out_(s, b ...); }
auto outF = [](auto x, auto y, auto z, auto ... a) { (* OS) << x; out_(y, a ...); (* OS) << z << flush; };
auto out  = [](auto ... a) { outF("", " " , "\n", a ...); };
auto outS = [](auto ... a) { outF("", " " , " " , a ...); };
auto outL = [](auto ... a) { outF("", "\n", "\n", a ...); };
auto outN = [](auto ... a) { outF("", ""  , ""  , a ...); };
array<string, 3> SEQ_FMT = { "", " ", "" };
auto & SEQ_BEG = SEQ_FMT[0];
auto & SEQ_MID = SEQ_FMT[1];
auto & SEQ_END = SEQ_FMT[2];
// output a (multi-dimensional) vector
template<typename T> ostream & operator<<(ostream & os, vector<T> const & v) {
	os << SEQ_BEG; inc(i, SI(v)) { os << (i == 0 ? "" : SEQ_MID) << v[i]; } return (os << SEQ_END);
}
template<typename T> void vout_(T && v) { (* OS) << v; }
template<typename T, typename A, typename ... B> void vout_(T && v, A a, B ... b) {
	inc(i, SI(v)) { (* OS) << (i == 0 ? "" : a); vout_(v[i], b ...); }
}
template<typename T, typename A, typename ... B> void vout(T && v, A a, B ... b) {
	vout_(v, b ...); (* OS) << a << flush;
}

// ---- ----

template<typename T> class opt {
private:
	bool f;
	T v;
public:
	opt() { f = false; }
	opt(T v) : v(v) { f = true; }
	void reset() { f = false; }
	bool setmin  (T a) { return (! f || a <  v ? v = a, f = true : false); }
	bool setmax  (T a) { return (! f || a >  v ? v = a, f = true : false); }
	bool setmineq(T a) { return (! f || a <= v ? v = a, f = true : false); }
	bool setmaxeq(T a) { return (! f || a >= v ? v = a, f = true : false); }
	bool has_val() { return f; }
	bool is_null() { return ! f; }
	T & val() { assert(f); return v; }
	friend T operator||(opt a, T e) { return (a.f ? a.v : e); }
	friend istream & operator>>(istream & s, opt<T> & a) { a.f = true; return (s >> a.v); }
	friend ostream & operator<<(ostream & s, opt<T>   a) { return (a.f ? s << a.v : s << "[null]"); }
};
template<typename T> using LPQ = priority_queue<T, vector<T>, greater<T>>;
template<typename T> vector<opt<T>> dijkstra(vector<vector<pair<int, T>>> const & g, int s) {
	int n = SI(g);
	vector<opt<T>> d(n);
	LPQ<pair<T, int>> q;
	d[s] = 0; q.emplace(d[s].val(), s);
	while(! q.empty()) {
		auto [dv, v] = q.top(); q.pop();
		if(d[v].val() != dv) { continue; }
		for(auto [w, dw]: g[v]) {
			if(d[w].setmin(dv + dw)) { q.emplace(d[w].val(), w); }
		}
	}
	return d;
}

template<typename T, size_t N> istream & operator>>(istream & s, array<T, N> & a) { RF(e, a) { s >> e; } return s; }

int main() {
	using P  = array<LL, 2>;
	using PR = array<LL, 3>;
	auto sq = [](auto x) { return x * x; };
	auto dist = [&](PR a, PR b) -> double { return max(0.0, sqrt(sq(a[0] - b[0]) + sq(a[1] - b[1])) - (a[2] + b[2])); };
	
	auto [s, t, n] = in<P, P, int>();
	auto v = vin<PR>(n);
	int S = SI(v); v.PB({ s[0], s[1], 0 });
	int T = SI(v); v.PB({ t[0], t[1], 0 });
	n = SI(v);
	
	vector<vector<pair<int, double>>> g(n);
	inc(i, n) {
	inc(j, n) {
		g[i].EB(j, dist(v[i], v[j]));
	}
	}
	cout.precision(12);
	out(dijkstra(g, S)[T]);
}


Measured memory_bytes: 23440