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.OutputStream;
import java.io.PrintWriter;
import java.util.Arrays;
import java.util.NoSuchElementException;
import java.util.PriorityQueue;

/*
                   _ooOoo_
                  o8888888o
                  88" . "88
                  (| -_- |)
                  O\  =  /O
               ____/`---'\____
             .'  \\|     |//  `.
            /  \\|||  :  |||//  \
           /  _||||| -:- |||||-  \
           |   | \\\  -  /// |   |
           | \_|  ''\---/''  |   |
           \  .-\__  `-`  ___/-. /
         ___`. .'  /--.--\  `. . __
      ."" '<  `.___\_<|>_/___.'  >'"".
     | | :  `- \`.;`\ _ /`;.`/ - ` : | |
     \  \ `-.   \_ __\ /__ _/   .-` /  /
======`-.____`-.___\_____/___.-`____.-'======
                   `=---='
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
            pass System Test!
*/

public class Main {
  private static class Task {
    class State implements Comparable<State> {
      int v;
      double cost;
      State(int v, double cost) {
        this.v = v;
        this.cost = cost;
      }

      @Override
      public int compareTo(State o) {
        if (this.cost > o.cost) return 1;
        if (this.cost < o.cost) return -1;
        return 0;
      }
    }
    void solve(FastScanner in, PrintWriter out) throws Exception {
      double xs = in.nextInt();
      double ys = in.nextInt();
      double xt = in.nextInt();
      double yt = in.nextInt();
      int N = in.nextInt();

      // N->N+1

      double[][] dist = new double[N + 2][N + 2];
      double[] x = new double[N + 2];
      double[] y = new double[N + 2];
      double[] r = new double[N + 2];
      for (int i = 0; i < N; i++) {
        x[i] = in.nextInt();
        y[i] = in.nextInt();
        r[i] = in.nextInt();
      }
      x[N] = xs;
      y[N] = ys;
      x[N + 1] = xt;
      y[N + 1] = yt;

      for (int i = 0; i < N + 2; i++) {
        for (int j = i + 1; j < N + 2; j++) {
          double dx = x[i] - x[j];
          double dy = y[i] - y[j];
          double d = Math.sqrt(dx * dx + dy * dy) - r[i] - r[j];
          d = Math.max(0, d);
          dist[i][j] = d;
          dist[j][i] = d;
        }
      }

      double[] costs = new double[N + 2];
      Arrays.fill(costs, 1e14);
      PriorityQueue<State> queue = new PriorityQueue<>();
      costs[N] = 0.0;
      queue.add(new State(N, 0.0));

      boolean[] vis = new boolean[N + 2];
      while (!queue.isEmpty()) {
        State state = queue.poll();
        int v = state.v;

        if (v == N + 1) {
          out.println(costs[N + 1]);
          return;
        }

        if (vis[v]) continue;
        vis[v] = true;
        for (int i = 0; i < N + 2; i++) {
          if (v == i) continue;
          if (costs[i] <= costs[v] + dist[v][i]) continue;
          costs[i] = costs[v] + dist[v][i];
          queue.add(new State(i, costs[i]));
        }
      }

    }
  }

  /**
   * ここから下はテンプレートです。
   */
  public static void main(String[] args) throws Exception {
    OutputStream outputStream = System.out;
    FastScanner in = new FastScanner();
    PrintWriter out = new PrintWriter(outputStream);
    Task solver = new Task();
    solver.solve(in, out);
    out.close();
  }

  private static class FastScanner {
    private final InputStream in = System.in;
    private final byte[] buffer = new byte[1024];
    private int ptr = 0;
    private int bufferLength = 0;

    private boolean hasNextByte() {
      if (ptr < bufferLength) {
        return true;
      } else {
        ptr = 0;
        try {
          bufferLength = in.read(buffer);
        } catch (IOException e) {
          e.printStackTrace();
        }
        if (bufferLength <= 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 void skipUnprintable() {
      while (hasNextByte() && !isPrintableChar(buffer[ptr])) ptr++;
    }

    boolean hasNext() {
      skipUnprintable();
      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();
    }

    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();
      }
    }

    double nextDouble() {
      return Double.parseDouble(next());
    }

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

    double[][] nextDoubleMap(int n, int m) {
      double[][] map = new double[n][];
      for (int i = 0; i < n; i++) {
        map[i] = nextDoubleArray(m);
      }
      return map;
    }

    public int nextInt() {
      return (int) nextLong();
    }

    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 String[] nextStringArray(int n) {
      String[] array = new String[n];
      for (int i = 0; i < n; i++) array[i] = next();
      return array;
    }

    public char[][] nextCharMap(int n) {
      char[][] array = new char[n][];
      for (int i = 0; i < n; i++) array[i] = next().toCharArray();
      return array;
    }

    public int[][] nextIntMap(int n, int m) {
      int[][] map = new int[n][];
      for (int i = 0; i < n; i++) {
        map[i] = nextIntArray(m);
      }
      return map;
    }
  }
}