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.*;

class Barrier {
  final double x;
  final double y;
  final double r;
  
  Barrier(double x, double y, double r) {
    this.x = x;
    this.y = y;
    this.r = r;
  }
  
  public double calculateCost(Barrier barrier) {
    return Math.max(0.0, Math.hypot(this.x - barrier.x, this.y - barrier.y) - this.r - barrier.r);
  }
}

class Node implements Comparable<Node> {
  final int barrierIndex;
  final double cost;
  
  Node(int barrierIndex, double cost) {
    this.barrierIndex = barrierIndex;
    this.cost = cost;
  }
  
  public int compareTo(Node node) {
    return Double.compare(this.cost, node.cost);
  }
}

public class Main {
  private static double solve(double xs, double ys, double xt, double yt, int n, double[] xss, double yss[], double[] rss) {
    List<Barrier> barriers = new ArrayList<>();
    barriers.add(new Barrier(xs, ys, 0.0));
    barriers.add(new Barrier(xt, yt, 0.0));
    for (int i = 0; i < n; i++) {
      barriers.add(new Barrier(xss[i], yss[i], rss[i]));
    }
    PriorityQueue<Node> queue = new PriorityQueue<>();
    boolean[] visited = new boolean[barriers.size()];
    queue.add(new Node(0, 0.0));
    while (!queue.isEmpty()) {
      Node node = queue.poll();
      if (visited[node.barrierIndex]) {
        continue;
      }
      visited[node.barrierIndex] = true;
      if (node.barrierIndex == 1) {
        return node.cost;
      }
      Barrier b1 = barriers.get(node.barrierIndex);
      for (int i = 0; i < barriers.size(); i++) {
        if (visited[i]) {
          continue;
        }
        Barrier b2 = barriers.get(i);
        queue.add(new Node(i, node.cost + b1.calculateCost(b2)));
      }
    }
    throw new RuntimeException();
  }
  
  private static void execute(ContestReader reader, PrintWriter out) {
    double xs = reader.nextDouble();
    double ys = reader.nextDouble();
    double xt = reader.nextDouble();
    double yt = reader.nextDouble();
    int n = reader.nextInt();
    double[] xss = new double[n];
    double[] yss = new double[n];
    double[] rss = new double[n];
    for (int i = 0; i < n; i++) {
      xss[i] = reader.nextDouble();
      yss[i] = reader.nextDouble();
      rss[i] = reader.nextDouble();
    }
    out.printf("%.20f\n", solve(xs, ys, xt, yt, n, xss, yss, rss));
  }
  
  public static void main(String[] args) {
    ContestReader reader = new ContestReader(System.in);
    PrintWriter out = new PrintWriter(System.out);
    execute(reader, out);
    out.flush();
  }
}

class ContestReader {
  private BufferedReader reader;
  private StringTokenizer tokenizer;
  
  ContestReader(InputStream in) {
    reader = new BufferedReader(new InputStreamReader(in));
  }
  
  public String next() {
    while (tokenizer == null || !tokenizer.hasMoreTokens()) {
      try {
        tokenizer = new java.util.StringTokenizer(reader.readLine());
      } catch (Exception e) {
        throw new RuntimeException(e);
      }
    }
    return tokenizer.nextToken();
  }
  
  public int nextInt() {
    return Integer.parseInt(next());
  }
  
  public long nextLong() {
    return Long.parseLong(next());
  }
  
  public double nextDouble() {
    return Double.parseDouble(next());
  }
  
  public String[] nextArray(int n) {
    String[] array = new String[n];
    for (int i = 0; i < n; i++) {
      array[i] = next();
    }
    return array;
  }
  
  public int[] nextIntArray(int n) {
    int[] array = new int[n];
    for (int i = 0; i < n; i++) {
      array[i] = nextInt();
    }
    return array;
  }
  
  public long[] nextLongArray(int n) {
    long[] array = new long[n];
    for (int i = 0; i < n; i++) {
      array[i] = nextLong();
    }
    return array;
  }
  
  public double[] nextDoubleArray(int n) {
    double[] array = new double[n];
    for (int i = 0; i < n; i++) {
      array[i] = nextDouble();
    }
    return array;
  }
  
  public int[][] nextIntMatrix(int n, int m) {
    int[][] matrix = new int[n][m];
    for (int i = 0; i < n; i++) {
      for (int j = 0; j < m; j++) {
        matrix[i][j] = nextInt();
      }
    }
    return matrix;
  }
  
  public long[][] nextLongMatrix(int n, int m) {
    long[][] matrix = new long[n][m];
    for (int i = 0; i < n; i++) {
      for (int j = 0; j < m; j++) {
        matrix[i][j] = nextLong();
      }
    }
    return matrix;
  }
  
  public double[][] nextDoubleMatrix(int n, int m) {
    double[][] matrix = new double[n][m];
    for (int i = 0; i < n; i++) {
      for (int j = 0; j < m; j++) {
        matrix[i][j] = nextDouble();
      }
    }
    return matrix;
  }
}

class ModCalculator {
  private final long mod;
  
  ModCalculator(long mod) {
    this.mod = mod;
  }
  
  public long add(long a, long b) {
    return (a + b) % mod;
  }
  
  public long mul(long a, long b) {
    return (a * b) % mod;
  }
  
  public long pow(long a, long b) {
    if (b == 0) {
      return 1;
    }
    long v = pow(mul(a, a), b / 2);
    if (b % 2 == 1) {
      return mul(v, a);
    } else {
      return v;
    }
  }
  
  public long inverse(long a) {
    return pow(a, mod - 2);
  }
  
  public long div(long a, long b) {
    return mul(a, inverse(b));
  }
}
 
class ModCombinationCache {
  private final ModCalculator modCalculator;
  private final List<Long> factorialCache;
  private final List<Long> factorialInverseCache;
  
  public ModCombinationCache(ModCalculator modCalculator) {
    this.modCalculator = modCalculator;
    factorialCache = new ArrayList<>();
    factorialCache.add(1L);
    factorialInverseCache = new ArrayList<>();
    factorialInverseCache.add(1L);
  }
  
  private void resize(int n) {
    for (int i = factorialCache.size() - 1; i < n; i++) {
      long v = modCalculator.mul(factorialCache.get(i), i + 1);
      factorialCache.add(v);
      factorialInverseCache.add(modCalculator.inverse(v));
    }
  }
  
  public long getP(int n) {
    resize(n);
    return factorialCache.get(n);
  }
  
  public long getC(int n, int k) {
    resize(n);
    return modCalculator.mul(factorialCache.get(n), modCalculator.mul(factorialInverseCache.get(k), factorialInverseCache.get(n-k)));
  }
}

class Algorithm {
  private static void swap(Object[] list, int a, int b) {
    Object tmp = list[a];
    list[a] = list[b];
    list[b] = tmp;
  }
  
  public static <T extends Comparable<? super T>> boolean nextPermutation(T[] ts) {
    int rightMostAscendingOrderIndex = ts.length - 2;
    while (rightMostAscendingOrderIndex >= 0 &&
        ts[rightMostAscendingOrderIndex].compareTo(ts[rightMostAscendingOrderIndex + 1]) >= 0) {
      rightMostAscendingOrderIndex--;
    }
    if (rightMostAscendingOrderIndex < 0) {
      return false;
    }
    
    int rightMostGreatorIndex = ts.length - 1;
    while (ts[rightMostAscendingOrderIndex].compareTo(ts[rightMostGreatorIndex]) >= 0) {
      rightMostGreatorIndex--;
    }
    
    swap(ts, rightMostAscendingOrderIndex, rightMostGreatorIndex);
    for (int i = 0; i < (ts.length - rightMostAscendingOrderIndex - 1) / 2; i++) {
      swap(ts, rightMostAscendingOrderIndex + 1 + i, ts.length - 1 - i);
    }
    return true;
  }
  
  public static void shuffle(int[] array) {
    Random random = new Random();
    int n = array.length;
    for (int i = 0; i < n; i++) {
      int randomIndex = i + random.nextInt(n - i);
      
      int temp = array[i];
      array[i] = array[randomIndex];
      array[randomIndex] = temp;
    }
  }
  
  public static void shuffle(long[] array) {
    Random random = new Random();
    int n = array.length;
    for (int i = 0; i < n; i++) {
      int randomIndex = i + random.nextInt(n - i);
      
      long temp = array[i];
      array[i] = array[randomIndex];
      array[randomIndex] = temp;
    }
  }
  
  public static void sort(int[] array) {
    shuffle(array);
    Arrays.sort(array);
  }
  
  public static void sort(long[] array) {
    shuffle(array);
    Arrays.sort(array);
  }
}

class UnionFind {
  int[] parents;
  int[] ranks;

  UnionFind(int n) {
    parents = new int[n];
    ranks = new int[n];

    for (int i = 0; i < n; i++) {
      parents[i] = i;
    }
  }

  public int getRoot(int index) {
    if (parents[index] == index) {
      return index;
    } else {
      parents[index] = getRoot(parents[index]);
      return parents[index];
    }
  }

  public boolean sameGroup(int a, int b) {
    return getRoot(a) == getRoot(b);
  }

  public void merge(int a, int b) {
    int rootA = getRoot(a);
    int rootB = getRoot(b);
    if (rootA == rootB) {
      return;
    }
    if (ranks[rootA] < ranks[rootB]) {
      parents[rootA] = rootB;
    } else if (ranks[rootB] < ranks[rootA]) {
      parents[rootB] = rootA;
    } else {
      parents[rootA] = rootB;
      ranks[rootB]++;
    }
  }
}

class Complex {
  final double real;
  final double impl;
  
  Complex(double real, double impl) {
    this.real = real;
    this.impl = impl;
  }
}