{$n+}
Program UnderGround;

Const max=202;
      max1=30000;

Var i,j,k,m,n,r,t,k1,k2:longint;
    value:double;
    v1,v2,L:double;
    a:array[1..max,1..2] of double;
    c:array[1..max,1..max] of double;
    g:array[1..max] of integer;
    b,Link,f:array[1..max1] of byte;
    Long1:array[1..max1] of double;
    d:array[1..max] of double;

Function Long(x,y,x1,y1:double):double;
begin
  Long:=sqrt(sqr(x1-x)+sqr(y1-y));
end;

Begin
  fillchar(a,sizeof(a),0);
  fillchar(c,sizeof(c),0);
  read(v1,v2);
  read(n);
  for i:=1 to n do
  read(a[i,1],a[i,2]);
  fillchar(g,sizeof(g),0);
  repeat
    read(k1,k2);
    if k1<>0 then
    begin
      c[k1,k2]:=Long(a[k1,1],a[k1,2],a[k2,1],a[k2,2])/v2;
      c[k2,k1]:=c[k1,k2];
    end;
  until (k1=0)or(k2=0);
  read(a[n+1,1],a[n+1,2],a[n+2,1],a[n+2,2]);
  inc(n,2);
  for i:=1 to n-1 do
  for j:=i+1 to n do
  if c[i,j]=0 then
  begin
    c[i,j]:=Long(a[i,1],a[i,2],a[j,1],a[j,2])/v1;
    c[j,i]:=c[i,j];
  end;
  fillchar(link,sizeof(link),0);
  fillchar(long1,sizeof(long1),0);
  r:=0;
  t:=1;
  for i:=1 to n do d[i]:=-1;
  d[n-1]:=0;
  fillchar(b,sizeof(b),0);
  b[1]:=n-1;
  while r<t do
  begin
    inc(r);
    for j:=1 to n do
    begin
      Value:=Long1[r]+c[b[r],j];
      if (d[j]=-1)or(Value<d[j])
      then
      begin
        d[j]:=Value;
        inc(t);
        b[t]:=j;
        Link[t]:=r;
        Long1[t]:=Value;
        if b[t]=n then m:=t;
      end;
    end;
  end;
  writeln(d[n]:0:7);
  fillchar(f,sizeof(f),0);
  t:=m;
  k:=0;
  while t<>0 do
  begin
    inc(k);
    f[k]:=t;
    t:=Link[t];
  end;
  write(k-2,' ');
  for i:=k-1 downto 2 do write(b[f[i]],' ');
End.