/*
                ____________    ______________       __
               / _________  /\ /_____   _____/\     / /\
              / /\       / /  \\    /  /\    \ \   / /  \
             / /  \_____/ /   / \__/  /  \____\/  / /   /
            / /   /    / /   /    /  /   /       / /   /
           / /   /    / /   /    /  /   /       / /   /
          / /   /    / /   /    /  /   /       / /   /
         / /___/____/ /   /    /  /   /       / /___/________
        /____________/   /    /__/   /       /______________/\
        \            \  /     \  \  /        \              \ \
         \____________\/       \__\/          \______________\/
           ___       ___               ___    __________
          /  /\     /  /\             /  /\  /_______  /\
         /  /__\___/  /  \           /  /  \ \      /  /  \
        /____    ____/   /          /  /   /  \____/  /   /
        \   /   /\   \  /          /  /   /       /  /   /
         \_/   /  \___\/ ___      /  /   /       /  /   /
          /   /   /     /  /\    /  /   /       /  /   /
         /   /   /     /  /__\__/  /   /       /  /___/____
        /___/   /     /___________/   /       /___________/\
        \   \  /      \           \  /        \           \ \
         \___\/        \___________\/          \___________\/

          A FAN OF FIZZYDAVID

*/

#include<bits/stdc++.h>

#define HEAP priority_queue
#define rep(i,n) for(int i=0;i<(n);i++)
#define per(i,n) for(int i=(n)-1;i>=0;i--)
#define forn(i,l,r) for(int i=(l);i<=(r);i++)
#define nrof(i,r,l) for(int i=(r);i>=(l);i--)
#define mp make_pair
#define mt make_tuple
#define pb push_back
#define X first
#define Y second
#define eps 1e-9
#define pi 3.1415926535897932384626433832795
#define orz int
#define yjz main
#define fizzydavid return
#define ak 0
#define la ;
#define SZ(x) (int)x.size()
#define ALL(x) x.begin(),x.end()
#define FILL(a,b) memset((a),(b),sizeof((a)))

using namespace std;

typedef long long LL;
typedef double flt;
typedef vector<int> vi;
typedef pair<int,int> pii;
typedef vector<LL> vl;
typedef pair<int,LL> pil;
typedef pair<LL,int> pli;
typedef pair<LL,LL> pll;
typedef vector<pil> vil;
typedef vector<pii> vii;

const int iinf=1e9+7;
const LL linf=1ll<<60;
const flt dinf=1e10;

template <typename T>
inline void scf(T &x)
{
	bool f=0; x=0; char c=getchar();
	while((c<'0' || c>'9') && c!='-') c=getchar();
	if(c=='-') { f=1; c=getchar(); }
	while(c>='0' && c<='9') { x=x*10+c-'0'; c=getchar(); }
	if(f) x=-x; return;
}

template <typename T1,typename T2>
void scf(T1 &x,T2 &y) { scf(x); return scf(y); }

template <typename T1,typename T2,typename T3>
void scf(T1 &x,T2 &y,T3 &z) { scf(x); scf(y); return scf(z); }

template <typename T1,typename T2,typename T3,typename T4>
void scf(T1 &x,T2 &y,T3 &z,T4 &w) { scf(x); scf(y); scf(z); return scf(w); }

#ifdef ONLINE_JUDGE
#define debug(x) ;
#else
#define DEBUG
#define debug(x) cerr<<#x<<"="<<x<<endl;
#endif

//---------------------------head----------------------------

const int N=1510;

int n,S,T;
int xs,ys,xt,yt;
int x[N],y[N],r[N];
vector<pair<int,flt> > g[N];
int q[N*N];
flt dst[N];
bool in[N];

inline int ABS(int x){ return x<0?-x:x; }

orz yjz()
{
    S=0;
    scf(xs,ys,xt,yt);
    scf(n);
    forn(i,1,n)
    {
        scf(x[i],y[i],r[i]);
    }
    T=n+1;

    forn(i,1,n) forn(j,i+1,n)
    {
        flt d=hypot(1.0*ABS(x[i]-x[j]),1.0*ABS(y[i]-y[j]));
        d-=(1.0*(r[i]+r[j]));

        if(d<=eps) d=0.0;

        g[i].pb(mp(j,d));
        g[j].pb(mp(i,d));
    }

    forn(i,1,n)
    {
        flt d=hypot(1.0*ABS(x[i]-xs),1.0*ABS(y[i]-ys));
        d-=(1.0*r[i]);

        if(d<=eps) d=0.0;

        g[S].pb(mp(i,d));
    }

    forn(i,1,n)
    {
        flt d=hypot(1.0*ABS(x[i]-xt),1.0*ABS(y[i]-yt));
        d-=(1.0*r[i]);

        if(d<=eps) d=0.0;

        g[i].pb(mp(T,d));
    }

    forn(i,1,T) dst[i]=1e20;
    int fnt,rar;
    fnt=rar=0;
    q[rar++]=S;
    while(fnt!=rar)
    {
        int u=q[fnt++];
        in[u]=0;

        for(auto e:g[u])
        {
            int v=e.X;
            flt w=e.Y;
            if(w+dst[u]<dst[v]-eps)
            {
                dst[v]=dst[u]+w;
                if(!in[v])
                {
                    in[v]=1;
                    q[rar++]=v;
                }
            }
        }
    }

    printf("%.12f\n",min(dst[T],hypot(1.0*(xt-xs),1.0*(yt-ys))));
	fizzydavid ak la
}


Measured memory_bytes: 17536