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.IOException;
import java.io.InputStream;
import java.io.PrintWriter;
import java.util.Arrays;
import java.util.InputMismatchException;
import java.util.NoSuchElementException;
public class Main {
	static final long C =  1000000007;
	static final int CY = 1000000000;
	static final int INF = Integer.MAX_VALUE/2;
	StringBuilder sb;
	//セット
	class Set<F,S> {
		F f;
		S s;
		Set(F f, S s) {this.f = f;this.s = s;}
	}
	char[][] c;
	int H;
	int W;
	public void calc() {
		sb = new StringBuilder();



		IO sc = new IO();
		int xs = sc.nextInt();
		int ys = sc.nextInt();
		int xt = sc.nextInt();
		int yt = sc.nextInt();
		int n = sc.nextInt();
		int[][] data = new int[n+2][3];
		data[0][0] = xs;
		data[0][1] = ys;
		data[0][2] = 0;
		data[1][0] = xt;
		data[1][1] = yt;
		data[1][2] = 0;
		for (int i=0; i < n; i++) {
			data[i+2][0] = sc.nextInt();
			data[i+2][1] = sc.nextInt();
			data[i+2][2] = sc.nextInt();
		}

		double ans = dijkstra(0, data)[1];




		System.out.println(ans);

	}
	//ダイクストラ法
	//始点・Fがコスト、Sが行き先の辺のリスト配列
	double[] dijkstra(int r, int[][] edges) {
		double[] ret = new double[edges.length];
		//boolean[] used = new boolean[v];//使ったかどうか

		Arrays.fill(ret, Double.POSITIVE_INFINITY);
		boolean[] used = new boolean[edges.length];
		ret[r] = 0;
		while (true) {
			int nv = -1;
			for (int i=0; i < edges.length; i++) {
				if (!used[i]  && (nv == -1 || ret[i] < ret[nv])) {
					nv = i;
				}
			}
			if (nv == -1)break;
			used[nv] = true;
			//System.err.println("nv"+nv);
			//used[nv] = true;
			for (int i=0 ; i < edges.length; i++) {
				double len = Math.max(0.0,Math.hypot(edges[nv][0] - edges[i][0]
						,edges[nv][1] - edges[i][1] ) - edges[nv][2] - edges[i][2]);
				ret[i] = Math.min(ret[i], ret[nv] + len);
			}
		}
		return ret;
	}
	public static void main(String[] args) {
		Main main = new Main();
		main.calc();

	}
}
class IO extends PrintWriter {
	private final InputStream in;
	private final byte[] buffer = new byte[1024];
	private int ptr = 0;
	private int buflen = 0;

	public IO() { this(System.in);}
	public IO(InputStream source) { super(System.out); this.in = source;}
	private boolean hasNextByte() {
		if (ptr < buflen) {
			return true;
		}else{
			ptr = 0;
			try {
				buflen = in.read(buffer);
			} catch (IOException e) {
				e.printStackTrace();
			}
			if (buflen <= 0) {
				return false;
			}
		}
		return true;
	}
	private int readByte() { if (hasNextByte()) return buffer[ptr++]; else return -1;}
	private static boolean isPrintableChar(int c) { return 33 <= c && c <= 126;}
	private static boolean isNewLine(int c) { return c == '\n' || c == '\r';}
	public boolean hasNext() { while(hasNextByte() && !isPrintableChar(buffer[ptr])) ptr++; return hasNextByte();}
	public boolean hasNextLine() { while(hasNextByte() && isNewLine(buffer[ptr])) ptr++; return hasNextByte();}
	public String next() {
		if (!hasNext()) {
			throw new NoSuchElementException();
		}
		StringBuilder sb = new StringBuilder();
		int b = readByte();
		while(isPrintableChar(b)) {
			sb.appendCodePoint(b);
			b = readByte();
		}
		return sb.toString();
	}
	public char[] nextCharArray(int len) {
		if (!hasNext()) {
			throw new NoSuchElementException();
		}
		char[] s = new char[len];
		int i = 0;
		int b = readByte();
		while(isPrintableChar(b)) {
			if (i == len) {
				throw new InputMismatchException();
			}
			s[i++] = (char) b;
			b = readByte();
		}
		return s;
	}
	public String nextLine() {
		if (!hasNextLine()) {
			throw new NoSuchElementException();
		}
		StringBuilder sb = new StringBuilder();
		int b = readByte();
		while(!isNewLine(b)) {
			sb.appendCodePoint(b);
			b = readByte();
		}
		return sb.toString();
	}
	public long nextLong() {
		if (!hasNext()) {
			throw new NoSuchElementException();
		}
		long n = 0;
		boolean minus = false;
		int b = readByte();
		if (b == '-') {
			minus = true;
			b = readByte();
		}
		if (b < '0' || '9' < b) {
			throw new NumberFormatException();
		}
		while(true){
			if ('0' <= b && b <= '9') {
				n *= 10;
				n += b - '0';
			}else if(b == -1 || !isPrintableChar(b)){
				return minus ? -n : n;
			}else{
				throw new NumberFormatException();
			}
			b = readByte();
		}
	}
	public int nextInt() {
		long nl = nextLong();
		if (nl < Integer.MIN_VALUE || nl > Integer.MAX_VALUE) {
			throw new NumberFormatException();
		}
		return (int) nl;
	}
	public char nextChar() {
		if (!hasNext()) {
			throw new NoSuchElementException();
		}
		return (char) readByte();
	}
	public double nextDouble() { return Double.parseDouble(next());}
	public int[] nextIntArray(int n) { int[] a = new int[n]; for(int i=0;i<n;i++) a[i] = nextInt(); return a;}
	public long[] nextLongArray(int n) { long[] a = new long[n]; for(int i=0;i<n;i++) a[i] = nextLong(); return a;}
	public double[] nextDoubleArray(int n) { double[] a = new double[n]; for(int i=0;i<n;i++) a[i] = nextDouble(); return a;}
	public void nextIntArrays(int[]... a) { for(int i=0;i<a[0].length;i++) for(int j=0;j<a.length;j++) a[j][i] = nextInt();}
	public int[][] nextIntMatrix(int n,int m) { int[][] a = new int[n][]; for(int i=0;i<n;i++) a[i] = nextIntArray(m); return a;}
	public char[][] nextCharMap(int n,int m) { char[][] a = new char[n][]; for(int i=0;i<n;i++) a[i] = nextCharArray(m); return a;}
	public void close() { super.close(); try {in.close();} catch (IOException e) {}}
}