Problem: On the xy-plane, Snuke is going to travel from the point (x_s, y_s) to the point (x_t, y_t). He can move in arbitrary directions with speed 1. Here, we will consider him as a point without size.

There are N circular barriers deployed on the plane. The center and the radius of the i-th barrier are (x_i, y_i) and r_i, respectively. The barriers may overlap or contain each other.

A point on the plane is exposed to cosmic rays if the point is not within any of the barriers.

Snuke wants to avoid exposure to cosmic rays as much as possible during the travel. Find the minimum possible duration of time he is exposed to cosmic rays during the travel.

Constraints

* All input values are integers.
* -10^9 ≤ x_s, y_s, x_t, y_t ≤ 10^9
* (x_s, y_s) ≠ (x_t, y_t)
* 1≤N≤1,000
* -10^9 ≤ x_i, y_i ≤ 10^9
* 1 ≤ r_i ≤ 10^9

Input

The input is given from Standard Input in the following format:


x_s y_s x_t y_t
N
x_1 y_1 r_1
x_2 y_2 r_2
:
x_N y_N r_N


Output

Print the minimum possible duration of time Snuke is exposed to cosmic rays during the travel. The output is considered correct if the absolute or relative error is at most 10^{-9}.

Examples

Input

-2 -2 2 2
1
0 0 1


Output

3.6568542495


Input

-2 0 2 0
2
-1 0 2
1 0 2


Output

0.0000000000


Input

4 -2 -2 4
3
0 0 2
4 0 1
0 4 1


Output

4.0000000000

Solution (in JAVA):

Solution:
import static java.lang.Math.*;

import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.io.OutputStream;
import java.io.PrintWriter;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.PriorityQueue;
import java.util.stream.Stream;

public class Main {

	public static void main(String[] args) {
		InputStream inputStream = System.in;
		OutputStream outputStream = System.out;
		MyInput in = new MyInput(inputStream);
		PrintWriter out = new PrintWriter(outputStream);
		TaskX solver = new TaskX();
		solver.solve(1, in, out);
		out.close();
	}

	static int INF = 1 << 30;
	static long LINF = 1L << 55;
	static int MOD = 1000000007;
	static int[] mh4 = { 0, -1, 1, 0 };
	static int[] mw4 = { -1, 0, 0, 1 };
	static int[] mh8 = { -1, -1, -1, 0, 0, 1, 1, 1 };
	static int[] mw8 = { -1, 0, 1, -1, 1, -1, 0, 1 };

	static class TaskX {

		@SuppressWarnings("unchecked")
		public void solve(int testNumber, MyInput in, PrintWriter out) {

			T s = new T(1001, in.nextLong(), in.nextLong(), 0);
			T t = new T(1002, in.nextLong(), in.nextLong(), 0);
			int n = in.nextInt();
			T[] ts = new T[1010];
			for (int i = 0; i < n; i++) {
				ts[i] = new T(i, in.nextLong(), in.nextLong(), in.nextLong());
			}

			List<P>[] g = new ArrayList[1010];
			g = Stream.generate(ArrayList::new).limit(1010).toArray(List[]::new);

			for (int i = 0; i < n; i++) {
				g[1001].add(new P(ts[i].idx, dist(s, ts[i])));
				g[ts[i].idx].add(new P(1001, dist(s, ts[i])));
			}

			for (int i = 0; i < n; i++) {
				g[1002].add(new P(ts[i].idx, dist(t, ts[i])));
				g[ts[i].idx].add(new P(1002, dist(t, ts[i])));
			}

			g[s.idx].add(new P(t.idx, dist(s, t)));
			g[t.idx].add(new P(s.idx, dist(s, t)));

			for (int from = 0; from < n; from++) {
				for (int to = 0; to < n; to++) {
					if (from == to) continue;
					g[ts[from].idx].add(new P(ts[to].idx, dist(ts[from], ts[to])));
				}
			}

			double[] cost = new double[1010];
			Arrays.fill(cost, Double.MAX_VALUE/2);
			cost[1001] = 0.0;

			PriorityQueue<P> pq = new PriorityQueue<>();
			pq.add(new P(1001, cost[1001]));
			while (!pq.isEmpty()) {
				P now = pq.remove();

				if (now.d != cost[now.idx]) continue;

				for (P to : g[now.idx]) {
					if (cost[now.idx] + to.d < cost[to.idx]) {
						cost[to.idx] = cost[now.idx] + to.d;
						pq.add(new P(to.idx, cost[to.idx]));
					}
				}
			}

			out.println(cost[1002]);

		}

		class P implements Comparable<P> {
			int idx;
			double d;

			public P(int idx, double d) {
				super();
				this.idx = idx;
				this.d = d;
			}

			@Override
			public int compareTo(P o) {
				return Double.compare(this.d, o.d);
			}

			@Override
			public String toString() {
				return "P [idx=" + idx + ", d=" + d + "]";
			}

		}

		double dist (T t1, T t2) {
			double ret = sqrt(pow(t1.x - t2.x, 2) + pow(t1.y - t2.y, 2));
			ret -= t1.r + t2.r;
			return Math.max(ret, 0);
		}

		class T {
			int idx;
			long x, y, r;

			public T(int idx, long x, long y, long r) {
				super();
				this.idx = idx;
				this.x = x;
				this.y = y;
				this.r = r;
			}

			@Override
			public String toString() {
				return "T [idx=" + idx + ", x=" + x + ", y=" + y + ", r=" + r
						+ "]";
			}

		}
	}

	static class MyInput {
		private final BufferedReader in;
		private static int pos;
		private static int readLen;
		private static final char[] buffer = new char[1024 * 8];
		private static char[] str = new char[500 * 8 * 2];
		private static boolean[] isDigit = new boolean[256];
		private static boolean[] isSpace = new boolean[256];
		private static boolean[] isLineSep = new boolean[256];

		static {
			for (int i = 0; i < 10; i++) {
				isDigit['0' + i] = true;
			}
			isDigit['-'] = true;
			isSpace[' '] = isSpace['\r'] = isSpace['\n'] = isSpace['\t'] = true;
			isLineSep['\r'] = isLineSep['\n'] = true;
		}

		public MyInput(InputStream is) {
			in = new BufferedReader(new InputStreamReader(is));
		}

		public int read() {
			if (pos >= readLen) {
				pos = 0;
				try {
					readLen = in.read(buffer);
				} catch (IOException e) {
					throw new RuntimeException();
				}
				if (readLen <= 0) {
					throw new MyInput.EndOfFileRuntimeException();
				}
			}
			return buffer[pos++];
		}

		public int nextInt() {
			int len = 0;
			str[len++] = nextChar();
			len = reads(len, isSpace);
			int i = 0;
			int ret = 0;
			if (str[0] == '-') {
				i = 1;
			}
			for (; i < len; i++)
				ret = ret * 10 + str[i] - '0';
			if (str[0] == '-') {
				ret = -ret;
			}
			return ret;
		}

		public long nextLong() {
			int len = 0;
			str[len++] = nextChar();
			len = reads(len, isSpace);
			int i = 0;
			long ret = 0;
			if (str[0] == '-') {
				i = 1;
			}
			for (; i < len; i++)
				ret = ret * 10 + str[i] - '0';
			if (str[0] == '-') {
				ret = -ret;
			}
			return ret;
		}

		public char nextChar() {
			while (true) {
				final int c = read();
				if (!isSpace[c]) {
					return (char) c;
				}
			}
		}

		public String nextString() {
			return new String(nextChars());
		}

		public char[] nextChars() {
			int len = 0;
			str[len++] = nextChar();
			len = reads(len, isSpace);
			return Arrays.copyOf(str, len);
		}

		public char[][] next2DChars(int h, int w) {
			char[][] s = new char[h][w];
			for (int i = 0; i < h; i++) {
				s[i] = nextChars();
			}
			return s;
		}

		int reads(int len, boolean[] accept) {
			try {
				while (true) {
					final int c = read();
					if (accept[c]) {
						break;
					}
					if (str.length == len) {
						char[] rep = new char[str.length * 3 / 2];
						System.arraycopy(str, 0, rep, 0, str.length);
						str = rep;
					}
					str[len++] = (char) c;
				}
			} catch (MyInput.EndOfFileRuntimeException e) {
			}
			return len;
		}

		public int[] nextIntArray(final int n) {
			final int[] res = new int[n];
			for (int i = 0; i < n; i++) {
				res[i] = nextInt();
			}
			return res;
		}

		public int[] nextIntArray1Index(final int n) {
			final int[] res = new int[n + 1];
			for (int i = 1; i < n + 1; i++) {
				res[i] = nextInt();
			}
			return res;
		}

		public int[] nextIntArrayDec(final int n) {
			final int[] res = new int[n];
			for (int i = 0; i < n; i++) {
				res[i] = nextInt() - 1;
			}
			return res;
		}

		public long[] nextLongArray(final int n) {
			final long[] res = new long[n];
			for (int i = 0; i < n; i++) {
				res[i] = nextLong();
			}
			return res;
		}

		public long[] nextLongArray1Index(final int n) {
			final long[] res = new long[n + 1];
			for (int i = 1; i < n + 1; i++) {
				res[i] = nextLong();
			}
			return res;
		}

		public long[] nextLongArrayDec(final int n) {
			final long[] res = new long[n];
			for (int i = 0; i < n; i++) {
				res[i] = nextLong() - 1;
			}
			return res;
		}

		public double nextDouble() {
			return Double.parseDouble(nextString());
		}

		public double[] nextDoubleArray(int n) {
			double[] res = new double[n];
			for (int i = 0; i < n; i++) {
				res[i] = nextDouble();
			}
			return res;
		}

		static class EndOfFileRuntimeException extends RuntimeException {
		}

	}

}