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 java.io.*;
import java.util.*;
import java.math.*;
// import java.awt.Point;
 
public class Main {
    InputStream is;
    PrintWriter out;
    String INPUT = "";
 
    long MOD = 1_000_000_007;
    int inf = Integer.MAX_VALUE;

    void solve(){
        long[] s = new long[2];
        long[] g = new long[2];
        for(int i = 0; i < 2; i++) s[i] = nl();
        for(int i = 0; i < 2; i++) g[i] = nl();
        int n = ni();
        long[][] c = new long[n+2][3];
        for(int i = 1; i <= n; i++){
            c[i][0] = nl();
            c[i][1] = nl();
            c[i][2] = nl();
        }
        c[0][0] = s[0];
        c[0][1] = s[1];
        c[0][2] = 0;
        c[n+1][0] = g[0];
        c[n+1][1] = g[1];
        c[n+1][2] = 0;
        Dijkstra dijkstra = new Dijkstra(n+2);
        for(int i = 0; i <= n+1; i++){
            for(int j = i+1; j <= n+1; j++){
                double res = Math.pow(c[i][0]-c[j][0],2) + Math.pow(c[i][1]-c[j][1],2);
                double cost = Math.max(0, Math.sqrt(res)-c[i][2]-c[j][2]);
                dijkstra.addDirectedEdge(i,j,cost);
                dijkstra.addDirectedEdge(j,i,cost);
            }
        }
        double[] dist = dijkstra.getDist(0);
        out.println(dist[n+1]);
    }

    static class Dijkstra {
        int n;
        ArrayList<Pair>[] G;
        long INF = Long.MAX_VALUE / 3;

        public Dijkstra(int n) {
            this.n = n;
            G = new ArrayList[n];
            for (int i = 0; i < n; i++) {
                G[i] = new ArrayList<>();
            }
        }

        public void addDirectedEdge(int from, int to, double cost) {
            G[from].add(new Pair(to, cost));
        }

        public double[] getDist(int s) {
            PriorityQueue<Pair> Q = new PriorityQueue<>();
            Q.add(new Pair(s, 0));
            double[] dist = new double[n];
            Arrays.fill(dist, INF);
            boolean[] used = new boolean[n];
            while (!Q.isEmpty()) {
                Pair p = Q.poll();
                if (used[p.x]) continue;
                used[p.x] = true;
                dist[p.x] = p.y;

                for (Pair edge : G[p.x]) {
                    Q.add(new Pair(edge.x, p.y + edge.y));
                }
            }
            return dist;
        }

        class Pair implements Comparable<Pair> {
            int x;
            double y;

            Pair(int x, double y) {
                this.x = x;
                this.y = y;
            }

            public int compareTo(Pair p) {
                return Double.compare(y, p.y);
            }

        }

    }

    void run() throws Exception
    {
        is = INPUT.isEmpty() ? System.in : new ByteArrayInputStream(INPUT.getBytes());
        out = new PrintWriter(System.out);
        long s = System.currentTimeMillis();
        solve();
        out.flush();
        if(!INPUT.isEmpty())tr(System.currentTimeMillis()-s+"ms");
    }
    
    public static void main(String[] args) throws Exception { new Main().run(); }
    
    private byte[] inbuf = new byte[1024];
    private int lenbuf = 0, ptrbuf = 0;
    
    private int readByte()
    {
        if(lenbuf == -1)throw new InputMismatchException();
        if(ptrbuf >= lenbuf){
            ptrbuf = 0;
            try { lenbuf = is.read(inbuf); } catch (IOException e) { throw new InputMismatchException(); }
            if(lenbuf <= 0)return -1;
        }
        return inbuf[ptrbuf++];
    }
    
    private boolean isSpaceChar(int c) { return !(c >= 33 && c <= 126); }
    private int skip() { int b; while((b = readByte()) != -1 && isSpaceChar(b)); return b; }
    
    private double nd() { return Double.parseDouble(ns()); }
    private char nc() { return (char)skip(); }
    
    private String ns()
    {
        int b = skip();
        StringBuilder sb = new StringBuilder();
        while(!(isSpaceChar(b) && b != ' ')){
            sb.appendCodePoint(b);
            b = readByte();
        }
        return sb.toString();
    }
    
    private char[] ns(int n)
    {
        char[] buf = new char[n];
        int b = skip(), p = 0;
        while(p < n && !(isSpaceChar(b))){
            buf[p++] = (char)b;
            b = readByte();
        }
        return n == p ? buf : Arrays.copyOf(buf, p);
    }
    
    private char[][] nm(int n, int m)
    {
        char[][] map = new char[n][];
        for(int i = 0;i < n;i++)map[i] = ns(m);
        return map;
    }
    
    private int[] na(int n)
    {
        int[] a = new int[n];
        for(int i = 0;i < n;i++)a[i] = ni();
        return a;
    }
    
    private int ni()
    {
        int num = 0, b;
        boolean minus = false;
        while((b = readByte()) != -1 && !((b >= '0' && b <= '9') || b == '-'));
        if(b == '-'){
            minus = true;
            b = readByte();
        }
        
        while(true){
            if(b >= '0' && b <= '9'){
                num = num * 10 + (b - '0');
            }else{
                return minus ? -num : num;
            }
            b = readByte();
        }
    }
    
    private long nl()
    {
        long num = 0;
        int b;
        boolean minus = false;
        while((b = readByte()) != -1 && !((b >= '0' && b <= '9') || b == '-'));
        if(b == '-'){
            minus = true;
            b = readByte();
        }
        
        while(true){
            if(b >= '0' && b <= '9'){
                num = num * 10 + (b - '0');
            }else{
                return minus ? -num : num;
            }
            b = readByte();
        }
    }
    
    private static void tr(Object... o) { System.out.println(Arrays.deepToString(o)); }
 
}