import java.util.*;

class superman
{
	static final int MAXN = 100;
	static final double EPSILON = 0.000001;
	static Point s = new Point();
	static Point t = new Point();
	static int ncircles; 
	static circle c[] = new circle[MAXN];
	
	static class Point
	{
		double x,y;
	}
	
	static class circle
	{
		Point c;
		double r;
	}
	
	static class Line
	{
		double a,b,c;
	}
	
	static Line point_and_slope_to_line(Point p, double m)
	{
		Line L = new Line();
		L.a = -m; L.b = 1; L.c =-((L.a*p.x) + (L.b*p.y));
		return L;
	}
	
	static Line points_to_line(Point p1, Point p2)
	{
		Line L = new Line();
		if(p1.x == p2.x)
		{
			L.a = 1;
			L.b = 0;
			L.c = -p1.x;
		}
		else
		{
			L.b = 1;
			L.a = -(p1.y - p2.y) / (p1.x - p2.x);
			L.c = -(L.a * p1.x) - (L.b * p1.y);
		}
		return L;
	}
	
	static boolean parallelQ(Line l1, Line l2)
	{
		return ( (Math.abs(l1.a-l2.a) <= EPSILON) && (Math.abs(l1.b-l2.b) <= EPSILON) );
	}
	
	static boolean same_lineQ(Line l1, Line l2)
	{
		return ( parallelQ(l1,l2) && (Math.abs(l1.c-l2.c) <= EPSILON) );
	}
	
	static boolean point_in_box(Point p, Point b1, Point b2)
	{
		return( 
		(p.x >= Math.min(b1.x,b2.x)) && 
		(p.x <= Math.max(b1.x,b2.x)) && 
		(p.y >= Math.min(b1.y,b2.y)) && 
		(p.y <= Math.max(b1.y,b2.y)));
	}
	
	static Point intersection_point(Line l1, Line l2)
	{
		Point p = new Point();
		if(same_lineQ(l1,l2))
		{
			System.out.printf("Warning: Identical lines, all points intersect.\n");
			p.x = p.y = 0.0;
			return p;
		}
		if(parallelQ(l1,l2))
		{
			System.out.printf("Error: Distinct parallel lines do not intersect.\n");
			return p;
		}
		p.x = (l2.b*l1.c - l1.b*l2.c) / (l2.a*l1.b - l1.a*l2.b);
		if (Math.abs(l1.b) > EPSILON)
			p.y = - (l1.a * (p.x) + l1.c) / l1.b;
		else
			p.y = - (l2.a * (p.x) + l2.c) / l2.b;
		return p;
	}
	
	static Point closest_point(Point p_in, Line l)
	{
		Line perp;
		Point p_c = new Point();
		if (Math.abs(l.b) <= EPSILON) {	/* vertical line */
			p_c.x = -(l.c);
			p_c.y = p_in.y;
			return p_c;
		}
		if (Math.abs(l.a) <= EPSILON) {	/* horizontal line */
			p_c.x = p_in.x;
			p_c.y = -(l.c);
			return p_c;
		}
		perp = point_and_slope_to_line(p_in,1/l.a);
		return intersection_point(l,perp);
	}
	
	static double distance(Point a, Point b)
	{
		int i;
		double d = (a.x - b.x) * (a.x - b.x) + (a.y - b.y) * (a.y - b.y);
		return Math.sqrt(d);
	}
	
	static void foo()
	{
		Line l;
		Point close;
		double d;		/* distance from circle-center */
		double xray = 0.0;	/* length of intersection with circles */
		double around = 0.0;	/* length around circular arcs */
		double angle;		/* angle subtended by arc */
		double travel;		/* total travel distance */
		int i;			/* counter */
		l = points_to_line(s,t);
		for (i=1; i<=ncircles; i++) {
			close = closest_point(c[i].c,l);
			d = distance(c[i].c,close);
			if ((d>=0) && (d < c[i].r) && point_in_box(close,s,t)) {
				xray += 2*Math.sqrt(c[i].r*c[i].r - d*d);
				angle = Math.acos(d/c[i].r);
				around += ((2*angle)/(2*Math.PI)) * (2*Math.PI*c[i].r);
				System.out.printf("circle %d (%7.3f,%7.3f,%7.3f) is %7.3f away from l, xray=%7.3f around=%7.3f angle=%7.3f.\n",
					i,c[i].c.x,c[i].c.y,c[i].r,d,xray,around,angle);
			}
		}
		travel = distance(s,t) - xray + around;
		System.out.printf("Superman sees through %7.3f units, and flies %7.3f units\n",
			xray, travel);
	}
	
	static public void main(String[] args)
	{
		int i;
		Scanner sc = new Scanner(System.in);
		s.x = sc.nextDouble(); s.y = sc.nextDouble();
		t.x = sc.nextDouble(); t.y = sc.nextDouble();
		ncircles = sc.nextInt();
		for(i=1;i<=ncircles;i++)
		{
			c[i] = new circle();
			c[i].c = new Point();
			c[i].c.x = sc.nextDouble();
			c[i].c.y = sc.nextDouble();
			c[i].r = sc.nextDouble();
		}
		System.out.printf("%7.3f %7.3f\n",s.x,s.y);
		System.out.printf("%7.3f %7.3f\n",t.x,t.y);
		System.out.printf("%d\n",ncircles);
		for (i=1; i<=ncircles; i++)
			System.out.printf("%7.3f %7.3f %7.3f\n",c[i].c.x,c[i].c.y,c[i].r);
		foo();
	}
}