#define _USE_MATH_DEFINES
#include<iostream>
#include<cstdio>
#include<algorithm>
#include<climits>
#include<string>
#include<vector>
#include<list>
#include<map>
#include<set>
#include<cmath>
#include<queue>
#include<cstring>
#include<stack>
using namespace std;
#define EPS 1e-8
#define INF 1000000
 
struct Point{
    double x,y;
    Point(){}
    Point(double _x,double _y){
        x=_x; y=_y;
    }
    Point operator +(const Point p)const{
        return Point(x+p.x,y+p.y);
    }
    Point operator -(const Point p)const{
        return Point(x-p.x,y-p.y);
    }
    Point operator *(const double d)const{
        return Point(x*d,y*d);
    }
    bool operator <(const Point &p)const{
        if(x==p.x) return y<p.y;
        return x<p.x;
    }
    double norm(){
        return x*x+y*y;
    }
	bool input(){
		if(cin>>x>>y) return true;
		return false;
	}
};
 
struct Line{
    Point a,b;
    Line(){}
    Line(Point _a,Point _b){
        a=_a; b=_b;
    }
	bool input(){
		if(a.input() && b.input()) return true;
		return false;
	}
};
 
struct Circle{
    Point c;
    double r;
    Circle(){}
    Circle(Point _c,double _r){
        c=_c; r=_r;
    }
};

typedef vector<Point> Polygon;

double dot(Point p,Point q){
    return p.x*q.x+p.y*q.y;
}
 
double cross(Point p,Point q){
    return p.x*q.y-q.x*p.y;
}
 
int ccw(Point a,Point b,Point c){ 
	Point v1 = b-a;
	Point v2 = c-a;
    if(cross(v1,v2)>EPS) return +1; 
    if(cross(v1,v2)<-EPS) return -1; 
	if(dot(v1,v2)<-EPS) return +2; 
	if(v1.norm()<v2.norm()) return -2; 
    return 0; 
}
 
bool intersect_ss(Line l,Line m){
	return ccw(l.a,l.b,m.a)*ccw(l.a,l.b,m.b)<=0 && ccw(m.a,m.b,l.a)*ccw(m.a,m.b,l.b)<=0;
}
 
bool crosspoint_ll(Line l,Line m,Point &p){
    Point a1,a2,b1,b2;
    a1 = l.b-l.a; a2 = m.b-m.a;
    b1 = m.a-l.a; b2 = l.a-m.b;
    double s1,s2;
    s1 = cross(a1,b1)/2; s2 = cross(a1,b2)/2;
    if(s1+s2<EPS) return false; 
    p = Point(m.a.x+a2.x*s1/(s1+s2),m.a.y+a2.y*s1/(s1+s2));
    return true;
}
 
int crosspoint_ss(Line l,Line m,Point &p){
    if(intersect_ss(l,m)==false) return 0; 
    if(crosspoint_ll(l,m,p)==true) return 1;
	return -1; 
}
 
int crosspoint_cc(Circle c1,Circle c2,Point &p1,Point &p2){
    double d,a,t;
    d = sqrt((c2.c-c1.c).norm());
	if(abs(c1.c.x-c2.c.x)<EPS && abs(c1.c.y-c2.c.y)<EPS && abs(c1.r-c2.r)<EPS)
		return -1; 
    if(d<abs(c1.r-c2.r) || c1.r+c2.r<d) return 0; 
    a = acos((c1.r*c1.r+d*d-c2.r*c2.r)/(2*c1.r*d));
    t = atan2(c2.c.y-c1.c.y,c2.c.x-c1.c.x);
    p1 = Point(c1.c.x+c1.r*cos(t+a),c1.c.y+c1.r*sin(t+a));
    p2 = Point(c1.c.x+c1.r*cos(t-a),c1.c.y+c1.r*sin(t-a));
    if(abs(p1.x-p2.x)<EPS && abs(p1.y-p2.y)<EPS) return 1; 
    return 2; 
}

int contains(Polygon g,Point p){
	Line l = Line(p,Point(INF,p.y));
	int cnt = 0, n = g.size();
	for(int i=0;i<n;i++){
		Point a = g[i]-p;
		Point b = g[(i+1)%n]-p;
		if(ccw(g[i],g[(i+1)%n],p)==0) return 1; 
		if(a.y>b.y) swap(a,b);
		if(a.y<=EPS && EPS<b.y && cross(a,b)>EPS) cnt++;
	}
	if((cnt&1)==1) return 2; 
	return 0; 
}

Polygon andrewScan(Polygon s){
	if(s.size()<=2) return s;
	sort(s.begin(),s.end());
	Polygon g;
	for(int i=0;i<s.size();i++){
		for(int n=g.size(); n>=2 && ccw(g[n-2],g[n-1],s[i])!=-1; n--){
			g.pop_back();
		}
		g.push_back(s[i]);
	}
	int upper_n = g.size();
	for(int i=s.size()-2;i>=0;i--){
		for(int n=g.size(); n>upper_n && ccw(g[n-2],g[n-1],s[i])!=-1; n--){
			g.pop_back();
		}
		g.push_back(s[i]);
	}
	reverse(g.begin(),g.end());
	g.pop_back();
	return g;
}

int main(){
	int N;
	Circle C[100];
	while(cin>>N,N){
		for(int i=0;i<N;i++){
			cin>>C[i].c.x>>C[i].c.y>>C[i].r;
		}
		Polygon way[2];
		way[0].push_back(C[0].c); way[1].push_back(C[1].c);
		for(int i=0;i<N-1;i++){
			Point p1,p2;
			crosspoint_cc(C[i],C[i+1],p1,p2);
			way[0].push_back(p1); way[1].push_back(p2);
		}
		way[0].push_back(C[N-1].c); way[1].push_back(C[N-1].c);
		double dp[101][2];
		fill_n((double*)dp,101*2,INF); dp[0][0] = 0;
		for(int i=0;i<N;i++){
			for(int j=0;j<2;j++){
				for(int k=i+1;k<=N;k++){
					for(int l=0;l<2;l++){
						Line l1(way[j][i],way[l][k]);
						bool flag = true;
						for(int m=i+1;m<k;m++){
							if(intersect_ss(l1,Line(way[0][m],way[1][m]))==false)
								flag = false;
						}
						if(flag==true){
							double d = sqrt((way[l][k]-way[j][i]).norm());
							dp[k][l] = min(dp[k][l],dp[i][j]+d);
						}
					}
				}
			}
		}
		printf("%.4lf\n",dp[N][0]);
	}
}

Measured memory_bytes: 1392