#include <bits/stdc++.h>

#define rep(i,n) for(int (i)=0;(i)<(int)(n);(i)++)
#define rrep(i,a,b) for(long long int i=(a);i<(b);i++)
#define rrrep(i,a,b) for(long long int i=(a);i>=(b);i--)
#define all(v) (v).begin(), (v).end()
#define pb(q) push_back(q)
#define Abs(a,b) max(a,b)-min(a,b)
#define YES(condition) if(condition){cout << "YES" << endl;}else{cout << "NO" << endl;}
#define Yes(condition) if(condition){cout << "Yes" << endl;}else{cout << "No" << endl;}
#define Cout(x) cout<<(x)<<endl
#define POSSIBLE(condition) if(condition){cout << "POSSIBLE" << endl;}else{cout << "IMPOSSIBLE" << endl;}
#define Possible(condition) if(condition){cout << "Possible" << endl;}else{cout << "Impossible" << endl;}
#define possible(condition) if(condition){cout << "possible" << endl;}else{cout << "impossible" << endl;}
#define Size(n) (n).size()
#define INF 1.1e18

typedef long long ll;


using namespace std;

const int MOD = 1e9 + 7,ohara=1e6;
const ll LINF = 1e18;

/*---------------------------------------------------------------
long long int kaizyo(long long int hh){
    cmp=1;
    while(hh>1){
        cmp=(cmp*hh)%MOD;
        hh--;
    }
    return cmp;
}
long long int ruizyo(long long int aa, long long int bb){
    if(aa==0){
        return 1;
    }
    else if(aa%2==0){
        long long int tt=ruizyo(aa/2,bb);
        return (tt*tt)%MOD;
    }
    else{
        return (ruizyo(aa-1,bb)*bb)%MOD;
    }
}フェルマ－のア
---------------------------------------------------------------

while(x!=0){
            sum+=x%10;
          / x/=10;
        }
        各桁の和
---------------------------------------------------------------

pair<int,int> p[100000];
cin >> tmp;
p[i]=make_pair(tmp,i);
cout << p[i].second+1 << endl;//ペアの右側つまりiを出力

---------------------------------------------------------------

bool f[100001];//1000000以下の素数を調べよう！
rrep(i,2,100001){
       f[i]=false;
    }
rrep(i,2,100001){
        if(!f[i]){
            for(int j=i+i;j<=100000;j+=i){
                f[j]=true;
            }
        }
    }
    for(int i=3;i<=100000;i+=2){
        if(!f[i]){
            c[i]++;
        }
    }

---------------------------------------------------------------

long long gcd(long long aaa,long long bbb){
    if(bbb==0){
        return aaa;
    }
    return gcd(bbb,aaa%bbb);
}
 
long long lcm(long long aaa,long long bbb){
    long long g = gcd(aaa,bbb);
    return aaa/g * bbb;
}左から最大公約数と最小公倍数


---------------------------------------------------------------

long long int prime_cnt[10000];
       for(int i=2;i*i<=n;i++){
           while(n%i==0){
               n/=i;
               prime_cnt[i]+=1;
           }
           if(n>1){
               prime_cnt[n]+=1;
               break;
           }
      }ある数nを素因数分解しましょう

---------------------------------------------------------------
debug:
cout<<"i: "<<i<<" j: "<<j<<" cnt: "<<cnt<<"\n";

---------------------------------------------------------------*/

long long int n,cnt=0,ans=0,a[ohara],b[ohara],c,cmp,cmpp,m,h,w,x[ohara],y[ohara],r[ohara],pos,xs,ys,xt,yt,xxx,yyy,rr;
int dy[]={1,0,-1,0};
int dx[]={0,1,0,-1};
string alph("abcdefghijklmnopqrstuvwxyz"),s;
bool flx[ohara],fly[ohara];
struct edge{int to;long double cost;};
vector<pair<int,long double>> g[ohara];
long double d[10000];
//-------------------------↓↓↓↓↓↓------------------------

long double calc(int v,int u) {
	long double res;
	res=sqrt(1.*abs(x[u]-x[v])*abs(x[u]-x[v])+abs(y[u]-y[v])*abs(y[u]-y[v]));
	res-=1.*r[u]+r[v];
	if(res<0.0) return 0;
	else return res;
}

int main(void){
       cin.tie(0);
    ios::sync_with_stdio(false);

    ll sx,sy,gx,gy;
       cin>>sx>>sy>>gx>>gy>>n;
	x[0]=sx,y[0]=sy;
	x[n+1]=gx,y[n+1]=gy;
       rep(i,n)cin>>x[i+1]>>y[i+1]>>r[i+1];
       rep(i,n+2){
           rep(j,i){
               long double tmp=calc(i,j);
             /*
               tmp=sqrt((double)Abs(x[i],x[j])*Abs(x[i],x[j])+(double)Abs(y[i],y[j])*Abs(y[i],y[j]));
               tmp=tmp-(double)r[i]-(double)r[j];
               if(tmp<0.0)tmp=0.0;
               */
             //  Cout(tmp);
               g[i].push_back(pair<int,long double>(j,tmp));
               g[j].push_back(pair<int,long double>(i,tmp));
           }
       }
        priority_queue<pair<long double,int>,vector<pair<long double,int>>,greater<pair<long double,int>>> que;
      rep(i,1010)d[i]=INF;
        d[0]=0;
        que.push(pair<long double,int>(0.0,0));
        while(!que.empty()){
            pair<long double,int> p=que.top();que.pop();
            int v=p.second;
            if(d[v]<p.first)continue;
            for(auto e:g[v]){
              int u=e.first;
              long double cost=e.second;
                if(d[u]>d[v]+cost){
                    d[u]=d[v]+cost;
                    que.push(pair<long double,int>(d[u],u));
                }
            }
        }
       printf("%.10Lf\n",d[n+1]);
      // rep(i,n+1)Cout(d[i]);
return 0;
}


Measured memory_bytes: 72428