#include <bits/stdc++.h>
                                        #include<iostream>
                                        #include<cstdio>
                                        #include<vector>
                                        #include<queue>
                                        #include<map>
                                        #include<cstring>
                                        #include<string>
                                        #include <math.h>
                                        #include<algorithm>
                                    //    #include <boost/multiprecision/cpp_int.hpp>
                                        #include<functional>
                                #define int long long
                                        #define inf  1000000007
                                        #define pa pair<int,int>
                                        #define ll long long
                                        #define pal pair<double,int>
                                        #define ppa pair<int,int>
                                        #define ppap pair<int,pa>
                                        #define ssa pair<string,int>
                                        #define  mp make_pair
                                        #define  pb push_back
                                        #define EPS (1e-12)
                                        #define equals(a,b) (fabs((a)-(b))<EPS)
                                  #define VI vector<int>
                                        using namespace std;
                                        
                                  class pas{
                                    	public:
                                    	int x,y;
                                    	pas(int x=0,int y=0):x(x),y(y) {}
                                    	pas operator + (pas p) {return pas(x+p.x,y+p.y);}
                                    	pas operator - (pas p) {return pas(x-p.x,y-p.y);}
                                    	pas operator * (int a) {return pas(x*a,y*a);}
                                    	pas operator / (int a) {return pas(x/a,y/a);}
                                    //	double absv() {return sqrt(norm());}
                                    	int norm() {return x*x+y*y;}
                                    	bool operator < (const pas &p) const{
                                   		return x != p.x ? x<p.x: y<p.y;
                                   	}
                                  //		bool operator < (const pas &p) const{
                                    //		return y != p.y ? y<p.y: x<p.x;
                                    //	}
                                    	bool operator == (const pas &p) const{
                                    		return x==p.x && y==p.y;
                                    	}
                                    };

                                        class Point{
                                        	public:
                                        	double x,y;
                                        	Point(double x=0,double y=0):x(x),y(y) {}
                                        	Point operator + (Point p) {return Point(x+p.x,y+p.y);}
                                        	Point operator - (Point p) {return Point(x-p.x,y-p.y);}
                                        	Point operator * (double a) {return Point(x*a,y*a);}
                                        	Point operator / (double a) {return Point(x/a,y/a);}
                                        	double absv() {return sqrt(norm());}
                                        	double norm() {return x*x+y*y;}
                                        	bool operator < (const Point &p) const{
                                        		return x != p.x ? x<p.x: y<p.y;
                                        	}
                                        	bool operator == (const Point &p) const{
                                        		return fabs(x-p.x)<EPS && fabs(y-p.y)<EPS;
                                        	}
                                        };
                                        typedef Point Vector;
                                 #define pl pair<int,pas>
                                        struct Segment{
                                        Point p1,p2;
                                        };
                                         double dot(Vector a,Vector b){
                                        	return a.x*b.x+a.y*b.y;
                                        }
                                        double cross(Vector a,Vector b){
                                        	return a.x*b.y-a.y*b.x;
                                        }
                                    
            bool parareru(Point a,Point b,Point c,Point d){
            //	if(abs(cross(a-b,d-c))<EPS)cout<<"dd "<<cross(a-b,d-c)<<endl;
            	return abs(cross(a-b,d-c))<EPS;
            }
            double distance_ls_p(Point a, Point b, Point c) {
              if ( dot(b-a, c-a) < EPS ) return (c-a).absv();
              if ( dot(a-b, c-b) < EPS ) return (c-b).absv();
              return abs(cross(b-a, c-a)) / (b-a).absv();
            }
            bool is_intersected_ls(Segment a,Segment b) {
            	if(a.p1==b.p1||a.p2==b.p1||a.p1==b.p2||a.p2==b.p2) return false;
            	if(parareru((a.p2),(a.p1),(a.p1),(b.p2))&&parareru((a.p2),(a.p1),(a.p1),(b.p1))){
            //		cout<<"sss"<<endl;
            		if(dot(a.p1-b.p1,a.p1-b.p2)<EPS) return true;
            		if(dot(a.p2-b.p1,a.p2-b.p2)<EPS) return true;
            		if(dot(a.p1-b.p1,a.p2-b.p1)<EPS) return true;
            		if(dot(a.p1-b.p2,a.p2-b.p2)<EPS) return true;
            		return false;
            	}
              else return ( cross(a.p2-a.p1, b.p1-a.p1) * cross(a.p2-a.p1, b.p2-a.p1) < EPS ) && ( cross(b.p2-b.p1, a.p1-b.p1) * cross(b.p2-b.p1, a.p2-b.p1) < EPS );
            }
            double segment_len(Segment a){
            	
            	return (a.p1-a.p2).absv();
            }
            double segment_dis(Segment a,Segment b){
            	if(is_intersected_ls(a,b))return 0;
            	double r=distance_ls_p(a.p1, a.p2, b.p1);
            	r=min(r,distance_ls_p(a.p1, a.p2, b.p2));
            	r=min(r,distance_ls_p(b.p1, b.p2, a.p2));
            	r=min(r,distance_ls_p(b.p1, b.p2, a.p1));
            	return r;
            }
            Point intersection_ls(Segment a, Segment b) {
              Point ba = b.p2-b.p1;
              double d1 = abs(cross(ba, a.p1-b.p1));
              double d2 = abs(cross(ba, a.p2-b.p1));
              double t = d1 / (d1 + d2);
             
              return a.p1 + (a.p2-a.p1) * t;
            }
			pair<Point,Point> circle_intersection(Point c1,double r1,Point c2,double r2){
				double d=(c1-c2).absv();
				double h=(r1*r1-r2*r2+d*d)/2.0/d;
				double l=sqrt(r1*r1-h*h);
			//	cout<<d<<" "<<h<<" "<<l<<endl;
				Point asi=c1+(c2-c1)*h/((c2-c1).absv());
				Vector r1r2=(c2-c1)/((c2-c1).absv());
				Vector sui={r1r2.y,-r1r2.x};
			//	cout<<sui.x<<" "<<sui.y<<endl;
				pair<Point,Point> z=mp(asi+sui*l,asi-sui*l);
				if(z.first.x>z.second.x) swap(z.first,z.second);
				return z;
			}
         
         Point cen[110];
         double r[110];
            Point p[300]; 
            Segment sen[110];
            vector<pal> G[400];
            double memo[400];
            int er[400];
    int n;        
double saiki(int r){
	if(r==2*n){
		er[r]=-1;
		return 0;
	}
	if(memo[r]>=-1) return memo[r];
	double l=1000000000.0;
		
	for(auto v:G[r]){
		double g=v.first+saiki(v.second);
		if(l>g){
			er[r]=v.second;
			l=g;
		}
		//l=min(l,v.first+saiki(v.second));
		
	}
	memo[r]=l;
	return l;
}
            
         signed main(){
	
	
         	while(1){
         	cin>>n;
         		if(n==0) return 0;
         		
         		for(int i=0;i<400;i++){
         			G[i].clear();
         			memo[i]=-1000000;
         		}
         		
         		for(int i=0;i<n;i++){
         			cin>>cen[i].x>>cen[i].y;
         			cin>>r[i];
         		}
         	
         		p[1]=cen[0];
         		p[2*n]=cen[n-1];
         		
         		for(int i=1;i<n;i++){
         			pair<Point,Point> z=circle_intersection(cen[i-1],r[i-1],cen[i],r[i]);
         			p[2*i]=z.first;
         			p[2*i+1]=z.second;
         		//	cout<<p[2*i].x<<" "<<p[2*i].y<<" "<<p[2*i+1].x<<" "<<p[2*i+1].y<<" "<<endl;
         			sen[i]={z.first,z.second};
         		}
         		
         		Segment seg;
         		seg={cen[0],cen[n-1]};
         		bool bol=1;
         		for(int i=1;i<n;i++)if(!is_intersected_ls(seg,sen[i]))bol=0;
         		if(bol) G[1].pb(mp((cen[0]-cen[n-1]).absv(),2*n));
         		
         		for(int i=1;i<=n;i++){
         			
         			bol =1;
         			seg={p[1],p[2*i]};
         			for(int j=1;j<i;j++) if(!is_intersected_ls(seg,sen[j]))bol=0;
         			
         			if(bol) G[1].pb(mp(segment_len(seg),2*i));
         			
         			bol=1;
         			seg={p[1],p[2*i+1]};
         			for(int j=1;j<i;j++) if(!is_intersected_ls(seg,sen[j]))bol=0;
         			if(bol) G[1].pb(mp(segment_len(seg),2*i+1));
         			
         			bol =1;
         			seg={p[2*n],p[2*i]};
         			for(int j=i+1;j<n;j++) if(!is_intersected_ls(seg,sen[j]))bol=0;
         			if(bol) G[2*i].pb(mp(segment_len(seg),2*n));
         			bol=1;
         			seg={p[2*n],p[2*i+1]};
         			for(int j=i+1;j<n;j++) if(!is_intersected_ls(seg,sen[j]))bol=0;
         			if(bol) G[2*i+1].pb(mp(segment_len(seg),2*n));
         		}
         		
         		for(int i=2;i<2*n;i++)for(int j=i+1;j<2*n;j++)if(i/2 != j/2){
         			bol =1;
         			seg={p[i],p[j]};
         			 
         			for(int k=i/2+1;k<j/2;k++)if(!is_intersected_ls(seg,sen[k]))bol=0;
         			if(bol) G[i].pb(mp(segment_len(seg),j));
         			
         		}
         	//	for(int i=1;i<2*n;i++)for(auto v:G[i])cout<<i<<" "<<v.second<<" "<<v.first<<endl; 
         		printf("%.10lf\n",saiki(1));
         		
         	
         	}
           	return 0;
           }


Measured memory_bytes: 3284