#include <bits/stdc++.h>
#define MOD 1000000007
#define INF 1001001001
#define LINF 1001001001001001001
#define rep(i,n) for (int i = 0; i < (n); ++i)
#define bit(n) (1LL<<(n))
using namespace std;

typedef double ll;
typedef pair<int, int> P;
typedef pair<ll, ll> LLP;

/*
    Dijkstra's Algorithm (Single Source Shortest Path)
        - for directed graph
        - NO edges have negative cost
        - 0-indexed vertexes
 */

class Dijkstra {
    private:
        vector< vector<LLP> > G;
        vector<ll> cost;
        vector<ll> par;
        priority_queue<LLP, vector<LLP>, greater<LLP> > que;

    public:
        Dijkstra(ll n, vector<vector<ll>> g, ll s);
        ll  getCost(ll target);
        vector< vector<ll> > getPath(ll  target);
};

// n: |V|
// g: [point_from, point_to, cost] (directed graph)
// s: start point
Dijkstra::Dijkstra(ll n, vector<vector<ll>> g, ll s) {
    for (ll  i = 0; i < n; i++) {
        G.push_back(vector<LLP>());
        cost.push_back(-1);
        par.push_back(-1);
    }

    // create adj-Graph
    for (ll i = 0; i < g.size(); i++) {
        G[g[i][0]].push_back(make_pair(g[i][1], g[i][2]));
    }

    // initialize
    cost[s] = 0;
    par[s] = s;
    que.push(make_pair(cost[s], s));

    while (!que.empty()) {
        LLP p = que.top();
        que.pop();

        if (cost[p.second] < p.first) continue;
        for (int i = 0; i < G[p.second].size(); i++) {
            if (cost[G[p.second][i].first] < 0 || cost[G[p.second][i].first] > cost[p.second] + G[p.second][i].second) {
                cost[G[p.second][i].first] = cost[p.second] + G[p.second][i].second;
                par[G[p.second][i].first] = p.second;
                que.push(make_pair(cost[G[p.second][i].first], G[p.second][i].first));
            }
        }
    }
}

// returns the minimum cost from the start point to the target.
// (if there is no path to the target, this returns -1.)
// (if the target is the start point, this returns 0.)
ll Dijkstra::getCost(ll target) {
    return cost[target];
}


// returns a list of path: Array of [point_from, point_to, cost].
// (if there is no path to the target or the target is the start point, this returns an empty vector.)
vector< vector<ll> > Dijkstra::getPath(ll target) {

    vector< vector<ll> > reversePath = vector< vector<ll> >(0);

    if (cost[target] <= 0) return reversePath;
    
    ll now_p = target;
    while (par[now_p] != now_p) {
        vector<ll> temp(3);
        temp[0] = par[now_p];
        temp[1] = now_p;
        temp[2] = cost[now_p] - cost[par[now_p]];
        reversePath.push_back(temp);
        now_p = par[now_p];
    }

    vector< vector<ll> > path = vector< vector<ll> >(0);
    for (ll i = reversePath.size() - 1; i >= 0; i--) path.push_back(reversePath[i]);

    return path;
}

int main() {
  
  LLP s, t;
  cin >> s.first >> s.second >> t.first >> t.second;
  int N;
  cin >> N;
  vector<LLP> P(N + 2);
  vector<ll> r(N + 2);
  for (int i = 1; i <= N; i++) cin >> P[i].first >> P[i].second >> r[i];
  P[0] = s; r[0] = 0;
  P[N + 1] = t; r[N + 1] = 0;

  vector<vector<ll>> g;
  rep(i,N+2) rep(j,N+2) {
    if (i == j) continue;
    vector<ll> e(3);
    ll d = sqrt(pow(P[i].first - P[j].first, 2) + pow(P[i].second - P[j].second, 2));
    d -= r[i] + r[j];
    e[0] = i;
    e[1] = j;
    e[2] = max((double)0, d);
    g.push_back(e);
  }

  Dijkstra tree(N + 2, g, 0);
  cout << fixed << setprecision(15) << tree.getCost(N + 1) << endl;

  return 0;
}

Measured memory_bytes: 137172