#ifdef LOCAL
//#define _GLIBCXX_DEBUG
#endif
//#pragma GCC target("avx512f,avx512dq,avx512cd,avx512bw,avx512vl")
#pragma GCC optimize("O3")
#pragma GCC optimize("unroll-loops")
#include <bits/stdc++.h>

using namespace std;

typedef long long ll;
typedef pair<ll, ll> P;
typedef pair<int, int> Pi;
typedef vector<ll> Vec;
typedef vector<int> Vi;
typedef vector<string> Vs;
typedef vector<char> Vc;
typedef vector<P> VP;
typedef vector<vector<ll>> VV;
typedef vector<vector<int>> VVi;
typedef vector<vector<char>> VVc;
typedef vector<vector<vector<ll>>> VVV;
typedef vector<vector<vector<vector<ll>>>> VVVV;

#define REP(i, a, b) for(ll i=(a); i<(b); i++)
#define PER(i, a, b) for(ll i=(a); i>=(b); i--)
#define rep(i, n) REP(i, 0, n)
#define per(i, n) PER(i, n, 0)
const ll INF=1e18+18;
const ll MOD=1000000007;
#define Yes(n) cout << ((n) ? "Yes" : "No") << endl;
#define YES(n) cout << ((n) ? "YES" : "NO") << endl;
#define ALL(v) v.begin(), v.end()
#define rALL(v) v.rbegin(), v.rend()
#define pb(x) push_back(x)
#define mp(a, b) make_pair(a,b)
#define Each(a,b) for(auto &a :b)
#define rEach(i, mp) for (auto i = mp.rbegin(); i != mp.rend(); ++i)
#ifdef LOCAL
#define dbg(x_) cerr << #x_ << ":" << x_ << endl;
#define dbgmap(mp) cerr << #mp << ":"<<endl; for (auto i = mp.begin(); i != mp.end(); ++i) { cerr << i->first <<":"<<i->second << endl;}
#define dbgset(st) cerr << #st << ":"<<endl; for (auto i = st.begin(); i != st.end(); ++i) { cerr << *i <<" ";}cerr<<endl;
#define dbgarr(n,m,arr) rep(i,n){rep(j,m){cerr<<arr[i][j]<<" ";}cerr<<endl;}
#define dbgdp(n,arr) rep(i,n){cerr<<arr[i]<<" ";}cerr<<endl;
#else
#define dbg(...)
#define dbgmap(...)
#define dbgset(...)
#define dbgarr(...)
#define dbgdp(...)
#endif
#define out(a) cout<<a<<endl
#define out2(a,b) cout<<a<<" "<<b<<endl
#define vout(v) rep(i,v.size()){cout<<v[i]<<" ";}cout<<endl
#define Uniq(v) v.erase(unique(v.begin(), v.end()), v.end())
#define fi first
#define se second

template<class T>bool chmax(T &a, const T &b) { if (a<b) { a=b; return true; } return false; }
template<class T>bool chmin(T &a, const T &b) { if (b<a) { a=b; return true; } return false; }

template<typename T1, typename T2>
ostream &operator<<(ostream &s, const pair<T1, T2> &p) { return s<<"("<<p.first<<", "<<p.second<<")"; }

template<typename T>istream& operator>>(istream&i,vector<T>&v)
{rep(j,v.size())i>>v[j];return i;}

// vector
template<typename T>
ostream &operator<<(ostream &s, const vector<T> &v) {
    int len=v.size();
    for(int i=0; i<len; ++i) {
        s<<v[i];
        if(i<len-1) s<<"	";
    }
    return s;
}

// 2 dimentional vector
template<typename T>
ostream &operator<<(ostream &s, const vector<vector<T> > &vv) {
    int len=vv.size();
    for(int i=0; i<len; ++i) {
        s<<vv[i]<<endl;
    }
    return s;
}

void dijkstra(vector<vector<pair<ll,double>>> &g, ll start, vector<double> &dist) {
    priority_queue<pair<ll,double>, vector<pair<ll,double>>, function<bool(pair<ll,double>, pair<ll,double>)>> q([](P a, P b)->ll {
        return a.second > b.second;
    });
    dist[start] = 0;
    q.push(mp(start, 0));
    while (!q.empty()) {
        pair<ll,double> now = q.top();
        q.pop();
        Each(nxt, g[now.fi]) {
            if(chmin(dist[nxt.fi], now.se + nxt.se)) {
                q.push(mp(nxt.fi, dist[nxt.fi]));
            }
        }
    }
}

int solve(){
    ll sx,sy,gx,gy;
    cin>>sx>>sy>>gx>>gy;
    ll n;
    cin>>n;
    Vec X(n+2);
    Vec Y(n+2);
    Vec R(n+2);
    X[0] = sx;
    Y[0] = sy;
    X[n+1] = gx;
    Y[n+1] = gy;
    rep(i,n){
        cin>>X[i+1]>>Y[i+1]>>R[i+1];
    }
    vector<vector<pair<ll,double>>> g(n+2);
    rep(i,n+2){
        rep(j,n+2){
            if(i==j)continue;
            double dist = max(0.0, sqrt((X[i]-X[j])*(X[i]-X[j])+(Y[i]-Y[j])*(Y[i]-Y[j]))-R[i]-R[j]);
            g[i].emplace_back(j,dist);
        }
    }
    dbg(g);
    vector<double>dist (n+2,INF);
    dijkstra(g,0,dist);
    dbg(dist);
    cout<<dist[n+1]<<endl;
    return  0;
}

int main() {
    cin.tie(0);
    ios::sync_with_stdio(false);
    cout<<std::setprecision(10);
    solve();
}


Measured memory_bytes: 23508