using System;
using System.Collections.Generic;
using System.Linq;
using System.IO;
using System.Text;
using System.Numerics;
using static System.Math;
using static System.Array;
using static AtCoder.Tool;
using static AtCoder.CalcL;
namespace AtCoder
{
    class AC
    {
        //const int MOD = 1000000007;
        const int MOD = 998244353;
        const int INF = int.MaxValue / 2;
        const long SINF = long.MaxValue / 2;
        const double EPS = 1e-8;
        static readonly int[] dI = { 0, 1, 0, -1 };
        static readonly int[] dJ = { 1, 0, -1, 0 };
        //static List<List<int>> G = new List<List<int>>();
        static List<List<Edge>> G = new List<List<Edge>>();
        //static List<Edge> E = new List<Edge>();
        static void Main(string[] args)
        {
            //var sw = new StreamWriter(Console.OpenStandardOutput()) { AutoFlush = false };
            //Console.SetOut(sw);
            var cin = new Scanner();

            var input = cin.ReadSplit_Double();
            var sx = input[0];
            var sy = input[1];
            var gx = input[2];
            var gy = input[3];
            int N = int.Parse(Console.ReadLine());
            for (var i = 0; i < N + 2; i++) G.Add(new List<Edge>());
            var x = new double[N + 2];
            var y = new double[N + 2];
            var r = new double[N + 2];
            x[0] = sx;
            y[0] = sy;
            r[0] = 0;
            for (var i = 1; i < N + 1; i++)
            {
                var p = cin.ReadSplit_Double();
                x[i] = p[0];
                y[i] = p[1];
                r[i] = p[2];
            }
            x[N + 1] = gx;
            y[N + 1] = gy;
            r[N + 1] = 0;
            for(var i = 0; i < N + 1; i++)
            {
                for (var j = i + 1; j < N + 2; j++)
                {
                    var d = Max(0, dist(x[i], y[i], x[j], y[j]) - r[i] - r[j]);
                    G[i].Add(new Edge(j, d));
                    G[j].Add(new Edge(i, d));
                }
            }
            var ans = Dijkstra(N + 2, 0);
            Console.WriteLine(ans[N + 1]);
            

            //Console.Out.Flush();
        }
        static double dist(double x1,double y1,double x2,double y2)
        {
            return Sqrt(Pow(x1 - x2, 2) + Pow(y1 - y2, 2));
        }
        static double[] Dijkstra(int N, int st)
        {
            double[] dist = new double[N];
            bool[] use = new bool[N];
            for (var i = 0; i < N; i++)
            {
                dist[i] = i == st ? 0 : SINF;
                use[i] = false;
            }

            var V = new PriorityQueue<Pair<int, double>>(false);
            V.Enqueue(new Pair<int, double>(st, 0, 2));

            while (V.Count() > 0)
            {
                var v = V.Dequeue();
                int cur = v.first;
                var d = v.second;
                if (use[cur]) { continue; }

                use[cur] = true;
                dist[cur] = d;
                foreach (var nx in G[cur])
                {
                    if (dist[nx.to] <= d + nx.dist) { continue; }
                    V.Enqueue(new Pair<int, double>(nx.to, d + nx.dist, 2));
                }
            }
            return dist;
        }
        struct Pair<T, U> : IComparable<Pair<T, U>>
        where T : IComparable<T>
        where U : IComparable<U>
        {
            public T first;
            public U second;
            private readonly bool CompWithFirst;

            public Pair(T f, U s, int comp)
            {
                first = f;
                second = s;
                CompWithFirst = comp == 1;
            }
            public Pair(T f, U s)
            {
                first = f;
                second = s;
                CompWithFirst = true;
            }

            public int CompareTo(Pair<T, U> other)
            {
                return CompWithFirst ? first.CompareTo(other.first) : second.CompareTo(other.second);
            }
        }
        struct Edge
        {
            public int from;

            public int to;
            public double dist;
            public Edge(int t, double c)
            {
                from = -1;
                to = t;
                dist = c;
            }
            public Edge(int f, int t, long c)
            {
                from = f;
                to = t;
                dist = c;
            }

        }
    }
    public class PriorityQueue<T> where T : IComparable<T>
    {

        private List<T> Q;
        private readonly int r;

        public PriorityQueue(bool ascending)
        {
            if (ascending)
            {
                r = 1;
            }
            else
            {
                r = -1;
            }
            Q = new List<T>();
        }


        private void PushHeap(List<T> list, T item)
        {
            int n = list.Count();
            list.Add(item);

            while (n != 0)
            {
                int pIndex = (n - 1) / 2;

                if (list[n].CompareTo(list[pIndex]) * r > 0)
                {
                    Swap(Q, n, pIndex);
                }
                else { break; }

                n = pIndex;
            }
        }

        private void PopHeap(List<T> list)
        {
            int n = list.Count() - 1;
            list[0] = list[n];
            list.RemoveAt(n);

            int cur = 0;
            int comp;

            while (2 * cur + 1 <= n - 1)
            {
                int c1 = 2 * cur + 1;
                int c2 = 2 * (cur + 1);
                if (c1 == n - 1)
                {
                    comp = c1;
                }
                else
                {

                    comp = list[c1].CompareTo(list[c2]) * r > 0 ? c1 : c2;
                }

                if (list[cur].CompareTo(list[comp]) * r < 0)
                {
                    Swap(Q, cur, comp);
                }
                else { break; }

                cur = comp;
            }
        }

        private void Swap(List<T> list, int a, int b)
        {
            T keep = list[a];
            list[a] = list[b];
            list[b] = keep;
        }

        public void Enqueue(T value)
        {
            PushHeap(Q, value);
        }

        public T Dequeue()
        {
            T ret = Q[0];
            PopHeap(Q);
            return ret;
        }

        public T Peek()
        {
            return Q[0];
        }

        public int Count()
        {
            return Q.Count();
        }

        public bool Contains(T obj)
        {
            return Q.Contains(obj);
        }
    }
    public class Scanner
    {
        public int[] ReadSplitInt()
        {
            return ConvertAll(Console.ReadLine().Split(), int.Parse);
        }
        public long[] ReadSplitLong()
        {
            return ConvertAll(Console.ReadLine().Split(), long.Parse);
        }
        public double[] ReadSplit_Double()
        {
            return ConvertAll(Console.ReadLine().Split(), double.Parse);
        }
    }
    public static class Tool
    {
        static public void Initialize<T>(ref T[] array, T initialvalue)
        {
            for (var i = 0; i < array.Length; i++)
            {
                array[i] = initialvalue;
            }
        }
        static public void Swap<T>(ref T a, ref T b)
        {
            T keep = a;
            a = b;
            b = keep;
        }

        static public void Display<T>(T[,] array2d, int n, int m)
        {
            for (var i = 0; i < n; i++)
            {
                for (var j = 0; j < m; j++)
                {
                    Console.Write($"{array2d[i, j]} ");
                }
                Console.WriteLine();
            }
        }

        static public long LPow(int a, int b)
        {
            return (long)Pow(a, b);
        }
    }
    static public class CalcI
    {
        public static int Gcd(int a, int b)
        {
            if (a * b == 0) { return Max(a, b); }
            return a % b == 0 ? b : Gcd(b, a % b);
        }
        public static int Lcm(int a, int b)
        {
            int g = Gcd(a, b);
            return a / g * b;
        }
        public static int Ceil(int n, int div)
        {
            return (n + div - 1) / div;
        }
    }
    static public class CalcL
    {
        public static long Gcd(long a, long b)
        {
            if (a * b == 0) { return Max(a, b); }
            return a % b == 0 ? b : Gcd(b, a % b);
        }
        public static long Lcm(long a, long b)
        {
            long g = Gcd(a, b);
            return a / g * b;
        }
        public static long Ceil(long n, long div)
        {
            return (n + div - 1) / div;
        }
    }
    class Modulo
    {
        private int M;
        private readonly long[] m_facs;
        public long Mul(long a, long b)
        {
            return ((a * b) % M);
        }
        public Modulo(long n, int m)
        {
            M = m;
            m_facs = new long[n + 1];
            m_facs[0] = 1;
            for (long i = 1; i <= n; ++i)
            {
                m_facs[i] = Mul(m_facs[i - 1], i);
            }
        }
        public long Fac(long n)
        {
            return m_facs[n];
        }
        public long Pow(long a, long m)
        {
            switch (m)
            {
                case 0:
                    return 1L;
                case 1:
                    return a;
                default:
                    long p1 = Pow(a, m / 2);
                    long p2 = Mul(p1, p1);
                    return ((m % 2) == 0) ? p2 : Mul(p2, a);
            }
        }
        public long Div(long a, long b)
        {
            return Mul(a, Pow(b, M - 2));
        }
        public long Ncr(long n, long r)
        {
            if (n < r) { return 0; }
            if (n == r) { return 1; }
            long res = Fac(n);
            res = Div(res, Fac(r));
            res = Div(res, Fac(n - r));
            return res;
        }
    }
}


Measured memory_bytes: 72892