using System;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using System.Linq;

class Program
{
    static void Main(string[] args)
    {
        var sw = new StreamWriter(Console.OpenStandardOutput()) { AutoFlush = false };
        Console.SetOut(sw);
        Solve();
        Console.Out.Flush();
    }
    static void Solve()
    {
        var sx = sc.ReadLong();
        var sy = sc.ReadLong();
        var gx = sc.ReadLong();
        var gy = sc.ReadLong();
        var N = sc.ReadInt();
        var X = new long[N];
        var Y = new long[N];
        var R = new long[N];
        for (long i = 0; i < N; i++)
        {
            X[i] = sc.ReadLong();
            Y[i] = sc.ReadLong();
            R[i] = sc.ReadLong();
        }
        var edges = new List<Tuple<double, int, int>>();
        for (int i = 0; i < N; i++)
        {
            for (int j = i + 1; j < N; j++)
            {
                if (i == j) continue;
                var d = DistanceP(X[i], Y[i], X[j], Y[j]);
                d -= R[i] + R[j];
                d = Math.Max(d, 0.0);
                edges.Add(Tuple.Create(d, i, j));
            }
        }
        for (int i = 0; i < N; i++)
        {
            {
                var d = DistanceP(X[i], Y[i], sx, sy);
                d -= R[i];
                d = Math.Max(d, 0.0);
                edges.Add(Tuple.Create(d, i, N));
            }
            {
                var d = DistanceP(X[i], Y[i], gx, gy);
                d -= R[i];
                d = Math.Max(d, 0.0);
                edges.Add(Tuple.Create(d, i, N + 1));
            }
        }
        var sge = Tuple.Create(DistanceP(sx, sy, gx, gy), N, N + 1);
        edges.Add(sge);

        var dij = new Dijkstra(N + 2);
        foreach (var e in edges)
        {
            dij.Add(e.Item2, e.Item3, e.Item1);
            dij.Add(e.Item3, e.Item2, e.Item1);
        }
        var ans = dij.GetMinCost(N, N + 1);
        Console.WriteLine(ans);
    }

    class Dijkstra
    {
        public const double INF = double.MaxValue / 2;
        public int V { get; set; }
        public int E { get; set; }
        public List<Edge>[] G { get; set; }
        public Dijkstra(int n)
        {
            this.V = n;
            this.G = new List<Edge>[V];
            for (int i = 0; i < V; i++)
            {
                this.G[i] = new List<Edge>();
            }
        }
        public void Add(int a, int b, double cost = 1)
        {
            this.G[a].Add(new Edge(b, cost));
            this.E++;
        }
        public double GetMinCost(int start, int goal)
        {
            var cost = new double[V];
            for (int i = 0; i < V; i++) cost[i] = INF;
            cost[start] = 0;

            var capacity = Math.Max(1, E);
            var q = new PriorityQueue<P>(false);
            q.Enqueue(new P(start, 0));

            while (q.Count > 0)
            {
                var p = q.Dequeue();
                if (p.Cost != cost[p.A]) continue;
                foreach (var e in this.G[p.A])
                {
                    if (cost[e.To] > p.Cost + e.Cost)
                    {
                        cost[e.To] = p.Cost + e.Cost;
                        q.Enqueue(new P(e.To, cost[e.To]));
                    }
                }
            }
            return cost[goal] == long.MaxValue ? -1 : cost[goal];
        }
        public double[] Calc(int start)
        {
            var visited = new bool[V];
            var cost = new double[V];
            for (int i = 0; i < V; i++) cost[i] = INF;
            cost[start] = 0;

            var capacity = Math.Max(1, E);
            var q = new PriorityQueue<P>(false);
            q.Enqueue(new P(start, 0));

            while (q.Count > 0)
            {
                var p = q.Dequeue();
                visited[p.A] = true;
                if (p.Cost != cost[p.A]) continue;
                foreach (var e in this.G[p.A])
                {
                    if (cost[e.To] > p.Cost + e.Cost && !visited[e.To])
                    {
                        cost[e.To] = p.Cost + e.Cost;
                        q.Enqueue(new P(e.To, cost[e.To]));
                    }
                }
            }
            return cost;
        }
        public struct Edge
        {
            public int To;
            public double Cost;
            public Edge(int to, double cost)
            {
                this.To = to;
                this.Cost = cost;
            }
        }
        public struct P : IComparable<P>
        {
            public int A;
            public double Cost;
            public P(int a, double cost)
            {
                this.A = a;
                this.Cost = cost;
            }
            public int CompareTo(P other)
            {
                return this.Cost.CompareTo(other.Cost);
            }
        }
        class PriorityQueue<T>
        {
            public int Count;
            private int Capacity;
            private bool IsMaxHeap;
            private T[] Buffer;
            private IComparer<T> Cmp;
            public PriorityQueue(bool isMaxHeap = true, IComparer<T> cmp = null)
            {
                Count = 0;
                Capacity = 1 << 10;
                IsMaxHeap = isMaxHeap;
                Buffer = new T[Capacity];
                if (cmp != null) Cmp = cmp;
                else Cmp = Comparer<T>.Default;
            }
            public PriorityQueue(int capacity, bool isMaxHeap = true, IComparer<T> cmp = null)
            {
                Count = 0;
                Capacity = Math.Max(16, capacity);
                IsMaxHeap = isMaxHeap;
                Buffer = new T[Capacity];
                if (cmp != null) Cmp = cmp;
                else Cmp = Comparer<T>.Default;
            }
            private void Resize()
            {
                Capacity <<= 1;
                Array.Resize(ref Buffer, Capacity);
            }
            public void Enqueue(T value)
            {
                if (Count == Capacity) Resize();
                Buffer[Count] = value;
                Count++;
                UpHeap();
            }
            public T Dequeue()
            {
                var res = Buffer[0];
                Swap(0, Count - 1);
                Count--;
                DownHeap();
                return res;
            }
            public T Peek() { return Buffer[0]; }
            private void Swap(int i, int j)
            {
                var tmp = Buffer[i];
                Buffer[i] = Buffer[j];
                Buffer[j] = tmp;
            }
            private void UpHeap()
            {
                var n = this.Count - 1;
                while (n != 0)
                {
                    var parent = (n - 1) / 2;
                    if (Compare(Buffer[n], Buffer[parent]) > 0)
                    {
                        Swap(n, parent);
                        n = parent;
                    }
                    else break;
                }
            }
            private void DownHeap()
            {
                var parent = 0;
                while (true)
                {
                    var child = 2 * parent + 1;
                    if (child > this.Count - 1) break;
                    if (child < Count - 1 && Compare(Buffer[child], Buffer[child + 1]) < 0)
                    {
                        child += 1;
                    }
                    if (Compare(Buffer[parent], Buffer[child]) < 0)
                    {
                        Swap(parent, child);
                        parent = child;
                    }
                    else break;
                }
            }
            private int Compare(T x, T y)
            {
                var res = Cmp.Compare(x, y);
                if (!IsMaxHeap) res *= -1;
                return res;
            }
        }
    }
    static double DistanceP(long x1, long y1, long x2, long y2)
    {
        return Math.Sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
    }

    static Scanner sc = new Scanner();
}
class Scanner
{
    string[] S = new string[0];
    int Index = 0;
    char[] Separators = new char[] { ' ' };

    public string Next()
    {
        if (this.Index < this.S.Length) return this.S[this.Index++];
        var line = "";
        while (line == "") line = Console.ReadLine();
        this.S = line.Split(this.Separators, StringSplitOptions.RemoveEmptyEntries);
        if (this.S.Length == 0) return this.Next();
        this.Index = 0;
        return this.S[this.Index++];
    }
    public string ReadStr()
    {
        return this.Next();
    }
    public char ReadChar()
    {
        return this.Next()[0];
    }
    public int ReadInt()
    {
        return int.Parse(this.Next());
    }
    public uint ReadUInt()
    {
        return uint.Parse(this.Next());
    }
    public long ReadLong()
    {
        return long.Parse(this.Next());
    }
    public double ReadDouble()
    {
        return double.Parse(this.Next());
    }
    public Tuple<int, int> ReadTup(int add = 0)
    {
        return Tuple.Create(this.ReadInt() + add, this.ReadInt() + add);
    }
    public Tuple<long, long> ReadTupLong(int add = 0)
    {
        return Tuple.Create(this.ReadLong() + add, this.ReadLong() + add);
    }
    public Tuple<int, int, int> ReadTup3(int add = 0)
    {
        return Tuple.Create(this.ReadInt() + add, this.ReadInt() + add, this.ReadInt() + add);
    }
    public Tuple<int, int, int, int> ReadTup4(int add = 0)
    {
        return Tuple.Create(this.ReadInt() + add, this.ReadInt() + add, this.ReadInt() + add, this.ReadInt() + add);
    }
    public int[] ReadIntArray(int n)
    {
        var array = new int[n];
        for (int i = 0; i < array.Length; i++)
        {
            array[i] = this.ReadInt();
        }
        return array;
    }
    public long[] ReadLongArray(int n)
    {
        var array = new long[n];
        for (int i = 0; i < array.Length; i++)
        {
            array[i] = this.ReadLong();
        }
        return array;
    }
    public double[] ReadDoubleArray(int n)
    {
        var array = new double[n];
        for (int i = 0; i < array.Length; i++)
        {
            array[i] = this.ReadDouble();
        }
        return array;
    }
    public char[] ReadCharArray(int n)
    {
        var array = new char[n];
        for (int i = 0; i < array.Length; i++)
        {
            array[i] = this.ReadChar();
        }
        return array;
    }
    public string[] ReadStrArray(int n)
    {
        var array = new string[n];
        for (int i = 0; i < array.Length; i++)
        {
            array[i] = this.ReadStr();
        }
        return array;
    }
    public Tuple<long, long>[] ReadTupLongArray(int n, int add = 0)
    {
        var array = new Tuple<long, long>[n];
        for (int i = 0; i < n; i++)
        {
            array[i] = this.ReadTupLong(add);
        }
        return array;
    }
    public Tuple<int, int>[] ReadTupArray(int n, int add = 0)
    {
        var array = new Tuple<int, int>[n];
        for (int i = 0; i < n; i++)
        {
            array[i] = this.ReadTup(add);
        }
        return array;
    }
    public Tuple<int, int, int>[] ReadTup3Array(int n, int add = 0)
    {
        var array = new Tuple<int, int, int>[n];
        for (int i = 0; i < n; i++)
        {
            array[i] = this.ReadTup3(add);
        }
        return array;
    }
    public Tuple<int, int, int, int>[] ReadTup4Array(int n, int add = 0)
    {
        var array = new Tuple<int, int, int, int>[n];
        for (int i = 0; i < n; i++)
        {
            array[i] = this.ReadTup4(add);
        }
        return array;
    }
}


Measured memory_bytes: 76204