#include <bits/stdc++.h>
using namespace std;
using lint = long long int;
using pint = pair<int, int>;
using plint = pair<lint, lint>;
struct fast_ios { fast_ios(){ cin.tie(0); ios::sync_with_stdio(false); cout << fixed << setprecision(20); }; } fast_ios_;
#define ALL(x) (x).begin(), (x).end()
#define FOR(i, begin, end) for(int i=(begin),i##_end_=(end);i<i##_end_;i++)
#define IFOR(i, begin, end) for(int i=(end)-1,i##_begin_=(begin);i>=i##_begin_;i--)
#define REP(i, n) FOR(i,0,n)
#define IREP(i, n) IFOR(i,0,n)
template<typename T> istream &operator>>(istream &is, vector<T> &vec){ for (auto &v : vec) is >> v; return is; }
template<typename T> ostream &operator<<(ostream &os, const vector<T> &vec){ os << "["; for (auto v : vec) os << v << ","; os << "]"; return os; }
template<typename T> ostream &operator<<(ostream &os, const deque<T> &vec){ os << "deq["; for (auto v : vec) os << v << ","; os << "]"; return os; }
template<typename T> ostream &operator<<(ostream &os, const set<T> &vec){ os << "{"; for (auto v : vec) os << v << ","; os << "}"; return os; }
template<typename T> ostream &operator<<(ostream &os, const unordered_set<T> &vec){ os << "{"; for (auto v : vec) os << v << ","; os << "}"; return os; }
template<typename T> ostream &operator<<(ostream &os, const multiset<T> &vec){ os << "{"; for (auto v : vec) os << v << ","; os << "}"; return os; }
template<typename T> ostream &operator<<(ostream &os, const unordered_multiset<T> &vec){ os << "{"; for (auto v : vec) os << v << ","; os << "}"; return os; }
template<typename T1, typename T2> ostream &operator<<(ostream &os, const pair<T1, T2> &pa){ os << "(" << pa.first << "," << pa.second << ")"; return os; }
template<typename TK, typename TV> ostream &operator<<(ostream &os, const map<TK, TV> &mp){ os << "{"; for (auto v : mp) os << v.first << "=>" << v.second << ","; os << "}"; return os; }
template<typename TK, typename TV> ostream &operator<<(ostream &os, const unordered_map<TK, TV> &mp){ os << "{"; for (auto v : mp) os << v.first << "=>" << v.second << ","; os << "}"; return os; }
template<typename T> void ndarray(vector<T> &vec, int len) { vec.resize(len); }
template<typename T, typename... Args> void ndarray(vector<T> &vec, int len, Args... args) { vec.resize(len); for (auto &v : vec) ndarray(v, args...); }
template<typename T> bool chmax(T &m, const T q) { if (m < q) {m = q; return true;} else return false; }
template<typename T> bool chmin(T &m, const T q) { if (q < m) {m = q; return true;} else return false; }
template<typename T1, typename T2> pair<T1, T2> operator+(const pair<T1, T2> &l, const pair<T1, T2> &r) { return make_pair(l.first + r.first, l.second + r.second); }
template<typename T1, typename T2> pair<T1, T2> operator-(const pair<T1, T2> &l, const pair<T1, T2> &r) { return make_pair(l.first - r.first, l.second - r.second); }
#define dbg(x) cerr << #x << " = " << (x) << " (L" << __LINE__ << ") " << __FILE__ << endl;

template<typename T>
struct ShortestPath
{
    int V, E;
    int INVALID = -1;
    std::vector<std::vector<std::pair<int, T>>> to;
    ShortestPath() = default;
    ShortestPath(int V) : V(V), E(0), to(V) {}
    void add_edge(int s, int t, T len) {
        assert(0 <= s and s < V);
        assert(0 <= t and t < V);
        to[s].emplace_back(t, len);
        E++;
    }

    std::vector<T> dist;
    std::vector<int> prev;
    // Dijkstra algorithm
    // Complexity: O(E log E)
    void Dijkstra(int s) {
        assert(0 <= s and s < V);
        dist.assign(V, std::numeric_limits<T>::max());
        dist[s] = 0;
        prev.assign(V, INVALID);
        using P = std::pair<T, int>;
        std::priority_queue<P, std::vector<P>, std::greater<P>> pq;
        pq.emplace(0, s);
        while(!pq.empty()) {
            T d;
            int v;
            std::tie(d, v) = pq.top();
            pq.pop();
            if (dist[v] < d) continue;
            for (auto nx : to[v]) {
                T dnx = d + nx.second;
                if (dist[nx.first] > dnx) {
                    dist[nx.first] = dnx, prev[nx.first] = v;
                    pq.emplace(dnx, nx.first);
                }
            }
        }
    }

    // Bellman-Ford algorithm
    // Complexity: O(VE)
    bool BellmanFord(int s, int nb_loop) {
        assert(0 <= s and s < V);
        dist.assign(V, std::numeric_limits<T>::max());
        dist[s] = 0;
        prev.assign(V, INVALID);
        for (int l = 0; l < nb_loop; l++) {
            bool upd = false;
            for (int v = 0; v < V; v++) {
                if (dist[v] == std::numeric_limits<T>::max()) continue;
                for (auto nx : to[v]) {
                    T dnx = dist[v] + nx.second;
                    if (dist[nx.first] > dnx) {
                        dist[nx.first] = dnx, prev[nx.first] = v;
                        upd = true;
                    }
                }
            }
            if (!upd) return true;
        }
        return false;
    }
    // Warshall-Floyd algorithm
    // Complexity: O(E + V^3)
    std::vector<std::vector<T>> dist2d;
    void WarshallFloyd() {
        dist2d.assign(V, std::vector<T>(V, std::numeric_limits<T>::max()));
        for (int i = 0; i < V; i++) {
            dist2d[i][i] = 0;
            for (auto p : to[i]) dist2d[i][p.first] = min(dist2d[i][p.first], p.second);
        }
        for (int k = 0; k < V; k++) {
            for (int i = 0; i < V; i++) {
                if (dist2d[i][k] = std::numeric_limits<T>::max()) continue;
                for (int j = 0; j < V; j++) {
                    if (dist2d[k][j] = std::numeric_limits<T>::max()) continue;
                    dist2d[i][j] = min(dist2d[i][j], dist2d[i][k] + dist2d[k][j]);
                }
            }
        }
    }
};

int main()
{
    int N;
    vector<lint> X(2), Y(2), R(2);
    cin >> X[0] >> Y[0] >> X[1] >> Y[1] >> N;
    N += 2;
    X.resize(N), Y.resize(N), R.resize(N);
    FOR(i, 2, N) cin >> X[i] >> Y[i] >> R[i];

    ShortestPath<double> graph(N);
    REP(now, N) REP(nxt, now)
    {
        double dist = max(sqrt((X[nxt] - X[now]) * (X[nxt] - X[now]) + (Y[nxt] - Y[now]) * (Y[nxt] - Y[now])) - R[now] - R[nxt], 0.0);
        graph.add_edge(now, nxt, dist);
        graph.add_edge(nxt, now, dist);
    }
    graph.Dijkstra(0);
    cout << graph.dist[1] << '\n';
}


Measured memory_bytes: 22268