Codeforces 887E Little Brothers 过两点的圆和给定的圆的关系 二分搜索

E. Little Brother

time limit per test

3 seconds

memory limit per test

512 megabytes

input

standard input

output

standard output

Masha's little brother draw two points on a sheet of paper. After that, he draws some circles and gave the sheet to his sister.

Masha has just returned from geometry lesson so she instantly noticed some interesting facts about brother's drawing.

At first, the line going through two points, that brother drew, doesn't intersect or touch any circle.

Also, no two circles intersect or touch, and there is no pair of circles such that one circle is located inside another.

Moreover, for each circle, Masha drew a square of the minimal area with sides parallel axis such that this circle is located inside the square and noticed that there is no two squares intersect or touch and there is no pair of squares such that one square is located inside other.

Now Masha wants to draw circle of minimal possible radius such that it goes through two points that brother drew and doesn't intersect any other circle, but other circles can touch Masha's circle and can be located inside it.

It's guaranteed, that answer won't exceed 10¹². It should be held for hacks as well.

Input

First line contains four integers x1, y1, x2, y2 ( - 10⁵ ≤ x1, y1, x2, y2 ≤ 10⁵) — coordinates of points that brother drew. First point has coordinates (x1, y1) and second point has coordinates (x2, y2). These two points are different.

The second line contains single integer n (1 ≤ n ≤ 10⁵) — the number of circles that brother drew.

Next n lines contains descriptions of circles. Each line contains three integers x_i, y_i, r_i ( - 10⁵ ≤ x_i, y_i ≤ 10⁵, 1 ≤ r_i ≤ 10⁵) describing circle with center (x_i, y_i) and radius r_i.

Output

Output smallest real number, that it's possible to draw a circle with such radius through given points in such a way that it doesn't intersect other circles.

The output is considered correct if it has a relative or absolute error of at most 10^- 4.

Examples

input

2 4 7 13
3
3 0 1
12 4 2
-4 14 2

output

5.1478150705

input

-2 3 10 -10
2
7 0 3
-5 -5 2

output

9.1481831923

Note

#include <bits/stdc++.h>

#define mp make_pair
#define pub push_back
#define x first
#define y second
#define all(a) a.begin(), a.end()
#define db long double

using namespace std;
typedef long long ll;

struct pt{
    db x, y;
    pt() {}
    pt(db x1, db y1) { x = x1, y = y1; }
    pt operator- (pt nxt) const { return pt(x - nxt.x, y - nxt.y); }
    pt operator+ (pt nxt) const { return pt(x + nxt.x, y + nxt.y); }
    pt operator/ (db val) const { return pt(x / val, y / val); }
    pt operator* (db val) const { return pt(x * val, y * val); }
    db len() { return sqrt(x * x + y * y); }
    db squareLen() { return x * x + y * y; }
    pt norm(db val) const { db tmp = pt(x, y).len(); return pt(x * val / tmp, y * val / tmp); }
    db operator% (pt nxt) const { return x * nxt.y  - y * nxt.x; }
};

pt a, b;
int n;
pair<pt, int> q[500007];

bool cross(pt a, db r1, pt b, db r2){
    if (r1 < r2) swap(r1, r2);
    if ((a - b).squareLen() < r1 * r1){
        //in
        if ((a - b).squareLen() > (r1 - r2) * (r1 - r2)) return 1;
    } else {
        //out
        if ((a - b).squareLen() < (r1 + r2) * (r1 + r2)) return 1;
    }
    return 0;
}

bool in(pt a, db r1, pt b, db r2){
    if (r1 > r2) return 0;
    return (a - b).len() + r1 <= r2;
}

int sign(db val){
    if (val < 0) return -1;
    return 1;
}

db solve(pt v){
    vector<pair<db, int> > t;
    pt sr = a + (b - a) / 2; ///a b 中点

    bool crossStart = 0;

    for (int i = 0; i < n; i++){///%是叉积
        db l, r;
        if (sign((b - a) % (q[i].x - a)) == sign((b - a) % ((sr + v) - a))){///query的圆在增长向量同侧
            ///分成两截，(0,l), (r,+∞)
            if (in(q[i].x, q[i].y, sr, ((b - a) / 2).len())) continue;
            if (cross(sr, ((a - b) / 2). len(), q[i].x, q[i].y)) crossStart = 1, l = 0;
            else {
                db vl = 0, vr = 1e12;
                for (int it = 0; it < 100; it++){
                    db vm = (vl + vr) / (db)2;
                    pt s2 = a + (b - a) / 2 + v.norm(vm);///v是离ab中点的距离的向量，v.len是当前圆心离ab中点的距离
                    db r2 = sqrt(vm * vm + ((a - b) / 2).squareLen());
                    if (cross(q[i].x, q[i].y, s2, r2) || in(q[i].x, q[i].y, s2, r2))///这里比下面多一个cross是因为半径从大到小必经过两个圆相交的过程
                        vr = vm;
                    else
                        vl = vm;
                }
                l = vl;
            }
            db vl = 0, vr = 1e12;
            for (int it = 0; it < 100; it++){
                db vm = (vl + vr) / (db)2;
                pt s2 = a + (b - a) / 2 + v.norm(vm);
                db r2 = sqrt(vm * vm + ((a - b) / 2).squareLen());
                if (in(q[i].x, q[i].y, s2, r2))  ///而这里一旦相交就停止
                    vr = vm;
                else
                    vl = vm;
            }
            r = vr;
        } else {
            if (!in(q[i].x, q[i].y, sr, ((b - a) / 2).len()) && !cross(sr, ((a - b) / 2).len(), q[i].x, q[i].y)) continue;///反向从中点延长垂径，不相交或者包含就代表永不相交，范围无穷
            if (cross(sr, ((a - b) / 2).len(), q[i].x, q[i].y)) crossStart = 1, l = 0;
            else {
                db vl = 0, vr = 1e12;
                for (int it = 0; it < 100; it++){
                    db vm = (vl + vr) / (db)2;
                    pt s2 = a + (b - a) / 2 + v.norm(vm);
                    db r2 = sqrt(vm * vm + ((a - b) / 2).squareLen());
                    if (in(q[i].x, q[i].y, s2, r2))
                        vl = vm;///如果初始包含，半径越大越容易不包含，画图！
                    else
                        vr = vm;
                }
                l = vl;
            }
            db vl = 0, vr = 1e12;
            for (int it = 0; it < 100; it++){
                db vm = (vl + vr) / (db)2;
                pt s2 = a + (b - a) / 2 + v.norm(vm);
                db r2 = sqrt(vm * vm + ((a - b) / 2).squareLen());
                if (cross(q[i].x, q[i].y, s2, r2) || in(q[i].x, q[i].y, s2, r2))
                    vl = vm;
                else
                    vr = vm;
            }
            r = vr;
        }
        t.pub(mp(l, -1));
        t.pub(mp(r, 1));
        //pt s2 = a + (b - a) / 2 + v.norm(r);
        //cout << i << ' ' << l << ' ' << r << ' ' << s2.x << ' ' << s2.y << ' ' << sqrt(r * r + ((a - b) / 2).squareLen()) << endl;
    }
    //cout << v.x << ' ' << v.y << endl;

    sort(all(t));
    db val = 0;

    if (crossStart){
        int bal = 0;
        for (int i = 0; i < t.size(); i++){
            bal += t[i].y;
            if (bal == 0){
                val = t[i].x;
                break;
            }
        }
    }

    return sqrt(val * val + ((a - b) / 2).squareLen());
}
int main(){
    ios_base::sync_with_stdio(0); cin.tie(0);
    cin >> a.x >> a.y >> b.x >> b.y >> n;
    for (int i = 0; i < n; i++) cin >> q[i].x.x >> q[i].x.y >> q[i].y;

    pt w = pt(-(a - b).y, (a - b).x);

    cout.precision(10);
    cout << fixed << (double)min(solve(w), solve(pt(0, 0) - w));
}

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