#include <bits/stdc++.h> // ver2.5.0
//#include <complex.h> // FFT用
//#include <boost/math/tools/minima.hpp>
//#include <boost/multiprecision/cpp_int.hpp>
//using boost::math::tools::brent_find_minima;//fmin(f,L,R,100)で最小値をmp(x,min)で取得
//using boost::multiprecision::cpp_int;//cpp_int (任意の長さのint)
#define fmin brent_find_minima
#define int long long
#define endl "\n"
#define ALL(v) (v).begin(),(v).end()
#define Vi vector<int>
#define VVi vector<Vi>
#define VVVi vector<VVi>
#define Vm vector<mint>
#define Vs vector<string>
#define Vd vector<double>
#define Pii pair<int,int>
#define Pdd pair<double,double>
#define VPii vector<Pii>
#define Tiii tuple<int,int,int>
#define VTiii vector<Tiii>
#define PQi priority_queue<int>
#define PQir priority_queue<int,vector<int>,greater<int>>
#define pb push_back
#define mp make_pair
#define mt make_tuple
#define itos to_string
#define stoi stoll
#define FI first
#define SE second
#define cYES cout<<"YES"<<endl
#define cNO cout<<"NO"<<endl
#define cYes cout<<"Yes"<<endl
#define cNo cout<<"No"<<endl
#define cyes cout<<"yes"<<endl
#define cno cout<<"no"<<endl
#define sortr(v) sort(v,greater<>())
#define rep(i,a,b) for(int i=a;i<b;i++)
#define repeq(i,a,b) for(int i=a;i<=b;i++)
#define repreq(i,a,b) for(int i=a;i>=b;i--)
#define dem(a,b) ((a+b-1)/(b))
#define Vin(a) rep(iI,0,a.size())cin>>a[iI]
#define INF 3000000000000000000  //  3.0*10^18(MAXの1/3くらい)
#define MAX LLONG_MAX
#define PI 3.141592653589793238462
//#define MOD 1000000007  //  10^9 + 7
const double EPS = 1e-10;
int MOD = 1000000007;
struct mint {int x;mint(int x=0):x((x%MOD+MOD)%MOD){}
mint& operator+=(const mint a){if((x+=a.x)>=MOD)x-=MOD;return *this;}
mint& operator-=(const mint a){if((x+=MOD-a.x)>=MOD)x-=MOD;return *this;}
mint& operator*=(const mint a){(x*= a.x)%=MOD;return *this;}
mint operator+(const mint a)const{mint res(*this);return res+=a;}
mint operator-(const mint a)const{mint res(*this);return res-=a;}
mint operator*(const mint a)const{mint res(*this);return res*=a;}
mint pow(int t)const {if(!t)return 1;mint a=pow(t>>1);a*=a;if(t&1)a*= *this;return a;}
mint inv()const{return pow(MOD-2);}
mint& operator/=(const mint a){return (*this)*=a.inv();}
mint operator/(const mint a)const{mint res(*this);return res/=a;}};

using namespace std;

/* デバッグ用 */
void Vout(auto a){if(a.size()==0) cout<<"."<<endl;
else{rep(i,0,a.size()-1)cout<<a[i]<<' ';if(a.size()>0)cout<<a.back()<<endl;}return;}
void Verr(auto a){if(a.size()==0) cerr<<"."<<endl;
else{rep(i,0,a.size()-1)cerr<<a[i]<<' ';if(a.size()>0)cerr<<a.back()<<endl;}return;}
void VVout(auto a){if(a.size()==0)cout<<"."<<endl;
else{rep(i,0,a.size())Vout(a[i]);}return;}
void VVerr(auto a){if(a.size()==0)cerr<<"."<<endl;
else{rep(i,0,a.size())Verr(a[i]);}return;}
void VPout(auto a){if(a.size()==0)cout<<"."<<endl;
else{rep(i,0,a.size())cout<<a[i].FI<<' '<<a[i].SE<<endl;}return;}
void VPerr(auto a){if(a.size()==0)cerr<<"."<<endl;
else{rep(i,0,a.size())cerr<<a[i].FI<<' '<<a[i].SE<<endl;}return;}

/* 便利関数 */
int gcd(int a,int b){return b?gcd(b,a%b):a;} // 最大公約数gcd
int lcm(int a,int b){return a/gcd(a,b)*b;} // 最小公倍数lcm
int mypow(int x, int n, int m){ // 累乗x^n(mod m) O(log(n))
if(n==0)return 1;if(n%2==0)return mypow(x*x%m,n/2,m);else return x*mypow(x,n-1,m)%m;}
int scomb(int n, int r){if(r<0||r>n)return 0;if((n-r)<r)r=n-r; // nCr
int a=1;for(int i=n;i>n-r;--i){a=a*i;}for(int i=1;i<r+1;++i){a=a/i;}return a;}
Vi vis(Vi &v){Vi S(v.size()+1);rep(i,1,S.size())S[i]+=v[i-1]+S[i-1];return S;} // 累積和
int digit(int k,int i){string s = itos(k);return s[s.size()-i]-'0';} // i桁目の数字
void press(auto &v){v.erase(unique(ALL(v)),v.end());} // 圧縮
Vi zip(Vi b){int Z=b.size(); // 座標圧縮
Pii p[Z+10];int a=b.size();Vi l(a);for(int i=0;i<a;i++)
p[i]=mp(b[i],i);sort(p,p+a);int w=0;for(int i=0;i<a;i++)
{if(i&&p[i].first!=p[i-1].first)w++;l[p[i].second]=w;}return l;}
Vi beki2V(){Vi a(63);int q = 1;rep(i,0,63){a[i]=q;q*=2;}return a;}
Vi beki2 = beki2V(); // 2^n配列
int modiv(int a,int b){return a*mypow(b,MOD-2,MOD)%MOD;} // a÷b(MOD環境)
int SMALLER(Vi &a,int x){return lower_bound(a.begin(),a.end(),x)-a.begin();}
int orSMALLER(Vi &a,int x){return upper_bound(a.begin(),a.end(),x)-a.begin();}
int BIGGER(Vi &a,int x){return a.size()-orSMALLER(a,x);}
int orBIGGER(Vi &a,int x){return a.size()-SMALLER(a,x);}
int COUNT(Vi &a,int x) {return upper_bound(ALL(a),x)-lower_bound(ALL(a),x);}
int maxind(Vi &a){return max_element(ALL(a))-a.begin();}
int minind(Vi &a){return min_element(ALL(a))-a.begin();}
Vi stpowV(){Vi a(100005);
a[0]=1;repeq(i,1,100004)a[i]=a[i-1]*i%MOD;return a;}
//Vi stpow = stpowV(); // 階乗配列(%MOD)

/************************* START *************************/

#define REP(i,a,b) for(int i=a;i<b;i++)
struct edge{int to;double cost;};
struct graph{
    int N;  
    vector< vector<edge> > edges;
    vector<double> dist;
    graph(int n){
        init(n);
    }
    void init(int n){
        N = n;
        edges.resize(N);
        dist.resize(N);
        REP(i,0,N){
            dist[i] = INF;
        }
    }
    void add_edges(int s,int t,int cost=1){
        edge e1,e2;
        e1.to = t, e1.cost = cost;
        e2.to = s, e2.cost = cost;
        edges[s].push_back(e1);
        edges[t].push_back(e2);
    }
    void add_edge(int s,int t,double cost=1){
        edge e;
        e.to = t, e.cost = cost;
        edges[s].push_back(e);
    }
    void bfs(int s){
        REP(i,0,N){
            dist[i] = INF;
        }
        dist[s]=0;
        queue<int> q;
        q.push(s);
        while(!q.empty()){
            int now=q.front();q.pop();
            //終了条件などの処理
            for(auto e : edges[now]){
                if(dist[e.to]==INF){
                    dist[e.to] = dist[now]+e.cost;
                    q.push(e.to);
                }
            }
        }
    }
    void dfs(int s){
        REP(i,0,N){
            dist[i] = INF;
        }
        dist[s]=0;
        stack<int> q;
        q.push(s);
        while(!q.empty()){
            int now=q.top();q.pop();
            //終了条件などの処理
            for(auto e : edges[now]){
                if(dist[e.to]==INF){
                    dist[e.to] = dist[now]+e.cost;
                    q.push(e.to);
                }
            }
        }
    }
    void dijkstra(int s){
        REP(i,0,N){
            dist[i] = INF;
        }
        dist[s] = 0;
        priority_queue<Pii,vector<Pii>,greater<Pii>> q;
        q.push(mp(0,s));
        while(!q.empty()){
            int now,nowdist;
            tie(nowdist,now) = q.top();q.pop();
            if(dist[now]<nowdist) continue;
            for(auto e : edges[now]){
                if(dist[e.to]>dist[now]+e.cost){
                    dist[e.to] = dist[now]+e.cost;
                    q.push(mp(dist[e.to],e.to));
                }
            }
        }
    }
    void bellman_ford(int s){
        REP(i,0,N){
            dist[i]=INF;
        }
        dist[s]=0;
        REP(i,0,N){
            REP(j,0,N){
                for(auto e : edges[j]){
                    if(dist[e.to] > dist[j] + e.cost){
                        dist[e.to] = dist[j] + e.cost;
                        if(i==N-1){
                            //閉路発見！
                        }
                    }
                }
            }
        }
    }
};

double di(int a,int b,int c,int d){
  double as = pow(a-c,2.0)+pow(b-d,2.0);
  return (double)sqrt(as);
}

signed main() {
  cin.tie(0);cout.tie(0);ios::sync_with_stdio(false);cout<<fixed<<setprecision(12);
  int a,b,c,d;
  cin >> a >> b >> c >> d;
  int n;
  cin >> n;
  vector<tuple<int,int,double>> into(n);
  
  int qw,er;
  double as;
  
  rep(i,0,n){
    cin >> qw >> er >> as;
    into[i] = mt(qw,er,as);
  }
  into.pb(mt(a,b,0));
  into.pb(mt(c,d,0));
  
  n += 2;
  
  swap(into[0],into[n-2]);
  
  //gr = vector<vector<pair<int,double>>>(n);
  graph gr(n);
  
  rep(i,0,n){
    rep(j,i+1,n){
      
      as = di(get<0>(into[i]),get<1>(into[i]),get<0>(into[j]),get<1>(into[j]));
      as -= (get<2>(into[i])+get<2>(into[j]));
      as = max(0.0,as);
      
      gr.add_edge(i,j,as);
      gr.add_edge(j,i,as);
      //cerr << i << ' ' << j << ' ' << as << endl;
      //gr[i].pb(mp(j,as));
      //gr[j].pb(mp(i,as));
    }
  }
  gr.dijkstra(0);
  cout << gr.dist[n-1] << endl;
  /*
  shortest(0);
  //rep(i,0,n) cerr << dist[i] << endl;
  cout << dist[n-1] << endl;
  */
  return 0;
}

Measured memory_bytes: 22676