#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <iostream>
#include <memory.h>
#include <math.h>
#include <assert.h>
#include <queue>
#include <map>
#include <set>
#include <string>
#include <algorithm>
#include <functional>
#include <vector>
#include <stack>
#include <unordered_map>
using namespace std;

#define VA_NUM_ARGS(...) VA_NUM_ARGS_IMPL_((0,__VA_ARGS__, 6,5,4,3,2,1))
#define VA_NUM_ARGS_IMPL_(tuple) VA_NUM_ARGS_IMPL tuple
#define VA_NUM_ARGS_IMPL(_0,_1,_2,_3,_4,_5,_6,N,...) N
#define macro_dispatcher(macro, ...) macro_dispatcher_(macro, VA_NUM_ARGS(__VA_ARGS__))
#define macro_dispatcher_(macro, nargs) macro_dispatcher__(macro, nargs)
#define macro_dispatcher__(macro, nargs) macro_dispatcher___(macro, nargs)
#define macro_dispatcher___(macro, nargs) macro ## nargs
#define Debug1(a)           cout<<#a<<"="<<(a)<<"\n"
#define Debug2(a,b)         cout<<#a<<"="<<(a)<<", "<<#b<<"="<<(b)<<"\n"
#define Debug3(a,b,c)       cout<<#a<<"="<<(a)<<", "<<#b<<"="<<(b)<<", "<<#c<<"="<<(c)<<"\n"
#define Debug4(a,b,c,d)     cout<<#a<<"="<<(a)<<", "<<#b<<"="<<(b)<<", "<<#c<<"="<<(c)<<", "<<#d<<"="<<(d)<<"\n"
#define Debug5(a,b,c,d,e)   cout<<#a<<"="<<(a)<<", "<<#b<<"="<<(b)<<", "<<#c<<"="<<(c)<<", "<<#d<<"="<<(d)<<", "<<#e<<"="<<(e)<<"\n"
#define Debug6(a,b,c,d,e,f) cout<<#a<<"="<<(a)<<", "<<#b<<"="<<(b)<<", "<<#c<<"="<<(c)<<", "<<#d<<"="<<(d)<<", "<<#e<<"="<<(e)<<", "<<#f<<"="<<(f)<<"\n"
#define Debug(...) macro_dispatcher(Debug, __VA_ARGS__)(__VA_ARGS__)
#define DA(a,n) cout<<#a<<"=["; printarray(a,n); cout<<"]\n"
#define DAR(a,n,s) cout<<#a<<"["<<s<<"-"<<n-1<<"]=["; printarray(a,n,s); cout<<"]\n"

#define TT1 template<class T>
#define TT1T2 template<class T1, class T2>
#define TT1T2T3 template<class T1, class T2, class T3>
template<class T, size_t N> ostream& operator << (ostream& os, const array<T, N>& v);
TT1T2 ostream& operator << (ostream& os, const pair<T1, T2>& p){ return os <<"("<<p.first<<", "<< p.second<<")"; }
TT1 ostream& operator << (ostream& os, const vector<T>& v){       bool f=1;os<<"[";for(auto& i : v) { if (!f)os << ", ";os<<i;f=0;}return os << "]"; }
template<class T, size_t N> ostream& operator << (ostream& os, const array<T, N>& v) {     bool f=1;os<<"[";for(auto& i : v) { if (!f)os << ", ";os<<i;f=0;}return os << "]"; }
TT1T2 ostream& operator << (ostream& os, const set<T1, T2>&v){    bool f=1;os<<"[";for(auto& i : v) { if (!f)os << ", ";os<<i;f=0;}return os << "]"; }
TT1T2 ostream& operator << (ostream& os, const multiset<T1,T2>&v){bool f=1;os<<"[";for(auto& i : v) { if (!f)os << ", ";os<<i;f=0;}return os << "]"; }
TT1T2T3 ostream& operator << (ostream& os, const map<T1,T2,T3>& v){ bool f = 1; os << "["; for (auto& ii : v) { if (!f)os << ", "; os << "(" << ii.first << " -> " << ii.second << ") "; f = 0; }return os << "]"; }
TT1T2 ostream& operator << (ostream& os, const multimap<T1, T2>& v){ bool f = 1; os << "["; for (auto& ii : v) { if (!f)os << ", "; os << "(" << ii.first << " -> " << ii.second << ") "; f = 0; }return os << "]"; }
TT1T2 ostream& operator << (ostream& os, priority_queue<T1, T2> v) { bool f = 1; os << "["; while (!v.empty()) { auto x = v.top(); v.pop(); if (!f) os << ", "; f = 0; os << x; } return os << "]"; }
TT1T2 void printarray(const T1& a, T2 sz, T2 beg = 0){ for (T2 i = beg; i<sz; i++) cout << a[i] << " "; cout << endl; }

typedef long long ll;
typedef unsigned long long ull;
typedef pair<int, int> Pi;
typedef pair<ll, ll> Pll;

#define Fi first
#define Se second
#define pb(x) push_back(x)
#define sz(x) (int)x.size()
#define rep(i, n) for(int i=0;i<n;i++)
#define repp(i, n) for(int i=1;i<=n;i++)
#define all(x) x.begin(), x.end()
#define geti1(X) cin >> X
#define geti2(X,Y) cin >> X >> Y
#define geti3(X,Y,Z) cin >> X >> Y >> Z
#define geti4(X,Y,Z,W) cin >> X >> Y >> Z >> W
#define GET_MACRO(_1,_2,_3,_4,NAME,...) NAME
#define geti(...) GET_MACRO(__VA_ARGS__, geti4, geti3, geti2, geti1) (__VA_ARGS__)

#define INF 987654321

#define endl '\n'

const ll mod = 998244353LL;
#define INF 987654321

double X[1050], Y[1050], R[1050];
double dist[1050];
double dist1(int i, int j){
	return sqrt( (X[i]-X[j])*(X[i]-X[j]) +  (Y[i]-Y[j])*(Y[i]-Y[j]) );
}

int N;
int source, sink;
vector<pair<int,double>> E[1050];
int main(){
	ios::sync_with_stdio(false); cin.tie(NULL);
	double xs,ys,xt,yt;
	geti(xs,ys,xt,yt);
	geti(N);
	source = 0, sink = N+1;
	X[source] = xs; Y[source] = ys;
	X[sink] = xt; Y[sink] = yt;
	repp(i,N) geti(X[i],Y[i],R[i]);
	
	for(int i=0;i<=N+1;i++){
		for(int j=0;j<=N+1;j++){
			if( i == j ) continue;
			double d = dist1(i,j);
			if( d <= R[i] + R[j] ) {
				E[i].push_back({j,0});
			//	Debug(i,j,0);
			}
			else {
				E[i].push_back({j, d-R[i]-R[j]});
			//	Debug(i,j,d-R[i]-R[j]);
			}
		}
	}

	for(int i=0;i<=N+1;i++) dist[i] = 1e18;
	priority_queue<pair<double,int>, vector<pair<double,int>>, greater<pair<double,int>>> pq;
	pq.push({0,source});
	dist[source] = 0;


	while( !pq.empty() ){
		double curd = pq.top().Fi;
		int cur = pq.top().Se;
		pq.pop();
		if( curd > dist[cur] ) continue;
		for(auto e : E[cur]){
			if( dist[e.Fi] > dist[cur] + e.Se ){
				dist[e.Fi] = dist[cur] + e.Se;
				pq.push({dist[e.Fi], e.Fi});
			}
		}
	}

	printf("%.10f\n",dist[sink]);
}










Measured memory_bytes: 22512