#pragma comment(linker, "/stack:200000000")
#pragma GCC optimize("Ofast")
#pragma GCC optimize(3)
#pragma GCC target("sse,sse2,sse3,ssse3,sse4,popcnt,abm,mmx,avx,tune=native")
#pragma GCC target("sse3","sse2","sse")
#pragma GCC target("avx","sse4","sse4.1","sse4.2","ssse3")
#pragma GCC target("f16c")
#pragma GCC optimize("inline","fast-math","unroll-loops","no-stack-protector")
#pragma GCC diagnostic error "-fwhole-program"
#pragma GCC diagnostic error "-fcse-skip-blocks"
#pragma GCC diagnostic error "-funsafe-loop-optimizations"
#pragma GCC diagnostic error "-std=c++14"
#include "bits/stdc++.h"
//#include "ext/pb_ds/tree_policy.hpp"
//#include "ext/pb_ds/assoc_container.hpp"
#define PB push_back
#define PF push_front
#define LB lower_bound
#define UB upper_bound
#define fr(x) freopen(x,"r",stdin)
#define fw(x) freopen(x,"w",stdout)
#define iout(x) printf("%d\n",x)
#define lout(x) printf("%lld\n",x)
#define REP(x,l,u) for(ll x = l;x<u;x++)
#define RREP(x,l,u) for(ll x = l;x>=u;x--)
#define complete_unique(a) a.erase(unique(a.begin(),a.end()),a.end())
#define mst(x,a) memset(x,a,sizeof(x))
#define all(a) a.begin(),a.end()
#define PII pair<int,int>
#define PLL pair<ll,ll>
#define MP make_pair
#define sqr(x) ((x)*(x))
#define lowbit(x) (x&(-x))
#define lson (ind<<1)
#define rson (ind<<1|1)
#define se second
#define fi first
#define dbg(x) cerr<<#x<<" = "<<(x)<<endl;
#define sz(x) ((int)x.size())
#define EX0 exit(0);

typedef  long long ll;
typedef unsigned long long ull;
typedef double db;
typedef long double ld;
using namespace std;
typedef vector<ll> VLL;
typedef vector<int> VI;
const int block_size = 320;
typedef complex<ll> point;
const ll mod = 1e9+7;
const ll inf = 1e9+7;
const ld eps = 1e-9;
const db PI = atan(1)*4;
template<typename T>
inline int sign(const T&a) {
    if(a<0)return -1;
    if(a>0)return 1;
    return 0;
}

template<typename T,typename S>inline bool upmin(T&a,const S&b){return a>b?a=b,1:0;}
template<typename T,typename S>inline bool upmax(T&a,const S&b){return a<b?a=b,1:0;}

template<typename T> inline void in(T &x) {
    x = 0;
    T f = 1;
    char ch = getchar();
    while (!isdigit(ch)) {
        if (ch == '-') f = -1;
        ch = getchar();
    }
    while (isdigit(ch))  {
        x = x * 10 + ch - '0';
        ch = getchar();
    }
    x *= f;
}

ll twop(int x) {
    return 1LL<<x;
}

template<typename A,typename B > inline void in(A&x,B&y) {
    in(x);
    in(y);
}
template<typename A,typename B,typename C>inline void in(A&x,B&y,C&z) {
    in(x);
    in(y);
    in(z);
}
template<typename A,typename B,typename C,typename D> inline void in(A&x,B&y,C&z,D&d) {
    in(x);
    in(y);
    in(z);
    in(d);
}
ll gcd(ll a,ll b){return b==0?a:gcd(b,a%b);}
namespace SOLVE {
    void main(){
    }
}

PLL from,to;

ld dis(pair<ll, PLL> a,pair<ll, PLL>b){
    return max((ld)0,(ld)sqrt(sqr(a.se.fi-b.se.fi)+sqr(a.se.se-b.se.se))-a.fi-b.fi);
}
ld d[1010];
bool vis[1010];
pair<ll, PLL>circ[1010];
int main() {
#ifndef ONLINE_JUDGE
#endif
    
    
    
    
    
    
    
    
    
    in(from.fi,from.se,to.fi,to.se);
    fill(d, d+1010, 1e100);
    int n;in(n);
    circ[0] = MP(0,from);
    circ[1] = MP(0,to);
    REP(i,2,n+2){
        in(circ[i].se.fi,circ[i].se.se,circ[i].fi);
    }
    d[0] = 0;
    REP(i,0,n+2){
        pair<ld, int> mi = MP(1e200,-1);
        REP(j,0,n+2){
            if(!vis[j])upmin(mi, MP(d[j],(int)j));
        }
        vis[mi.se] = 1;
        dbg(d[mi.se]);
        REP(j,0,n+2){
            if(!vis[j]){
                
                upmin(d[j], d[mi.se]+dis(circ[j], circ[mi.se]));
            }
        }
    }
    
    printf("%.15f",(db)d[1]);
    
    
    
    
    
    
    
    
    
    
    
    
    
    
    
    
    
    
    
    return 0;
}


Measured memory_bytes: 256