Language: C++

#include <bits/stdc++.h>
using namespace std;
#define FOR(i,k,n) for(int i = (k); i < (n); i++)
#define REP(i,n) FOR(i,0,n)
#define ALL(a) a.begin(), a.end()
#define MS(m,v) memset(m,v,sizeof(m))
#define D10 fixed<<setprecision(10)
typedef vector<int> vi;
typedef vector<string> vs;
typedef pair<int, int> pii;
typedef long long ll;
const int MOD = 1000000007;
const int INF = MOD + 1;
const double EPS = 1e-10;
template<class T> T &chmin(T &a, const T &b) { return a = min(a, b); }
template<class T> T &chmax(T &a, const T &b) { return a = max(a, b); }
typedef double Weight;
struct Edge
{
	int from, to; Weight cost;
	bool operator < (const Edge& e) const { return cost < e.cost; }
	bool operator >(const Edge& e) const { return cost > e.cost; }
};
typedef vector<Edge> Edges;
typedef vector<Edges> Graph;
typedef vector<Weight> Array;
typedef vector<Array> Matrix;
void add_edge(Graph &g, int from, int to, Weight cost)
{
	g[from].push_back(Edge{ from, to, cost });
}
const double PI = acos(-1.0);
bool eq(double a, double b) { return abs(a - b) < EPS; }
typedef complex<double> Point;
typedef vector<Point> Polygon;

namespace std
{
	bool operator < (const Point& a, const Point& b)
	{
		return real(a) != real(b) ? real(a) < real(b) : imag(a) < imag(b);
	}
}

struct Line
{
	Point a, b;
	Line(Point p, Point q) :a(p), b(q) {};
	Line(double x1, double y1, double x2, double y2) :a(Point(x1, y1)), b(Point(x2, y2)) {};
};

struct Circle
{
	Point p; double r;
	Circle(Point a, double b) :p(a), r(b) {};
};

double dot(Point a, Point b)
{
	return real(conj(a)*b);
}

double cross(Point a, Point b)
{
	return imag(conj(a)*b);
}

int ccw(Point a, Point b, Point c)
{
	b -= a; c -= a;
	if (cross(b, c) > EPS) return 1;    //counter cloclwise
	if (cross(b, c) < -EPS) return -1;  //cloclwise
	if (dot(b, c) < 0) return 2;        //c--a--b on line 
	if (norm(b) < norm(c)) return -2;   //a--b--c on line
	return 0;                           //a--c--b on line
}

bool isis_ll(Line l, Line m)
{
	return abs(cross(l.b - l.a, m.b - m.a)) > EPS;
}

bool isis_ls(Line l, Line s)
{
	return cross(l.b - l.a, s.a - l.a)*cross(l.b - l.a, s.b - l.a) < EPS;
}

bool isis_ss(Line s, Line t)
{
	return (ccw(s.a, s.b, t.a)*ccw(s.a, s.b, t.b) <= 0 &&
		ccw(t.a, t.b, s.a)*ccw(t.a, t.b, s.b) <= 0);
}

bool isis_lp(Line l, Point p)
{
	return (abs(cross(l.b - p, l.a - p)) < EPS);
}

bool isis_sp(Line s, Point p)
{
	return (abs(s.a - p) + abs(s.b - p) - abs(s.b - s.a)) < EPS;
}

Point projection(Line l, Point p)
{
	Point base = l.b - l.a;
	double r = dot(p - l.a, base) / norm(base);
	return l.a + base*r;
}

Point mirror(Line l, Point p)
{
	return Point(2, 0)*projection(l, p) - p;
}

double dist_lp(Line l, Point p)
{
	return abs(p - projection(l, p));
}

double dist_ll(Line l, Line m)
{
	return isis_ll(l, m) ? 0 : dist_lp(l, m.a);
}

double dist_ls(Line l, Line s)
{
	if (isis_ls(l, s)) return 0;
	return min(dist_lp(l, s.a), dist_lp(l, s.b));
}

double dist_sp(Line s, Point p)
{
	Point r = projection(s, p);
	if (isis_sp(s, r)) return abs(r - p);
	return min(abs(s.a - p), abs(s.b - p));
}

double dist_ss(Line s, Line t)
{
	if (isis_ss(s, t)) return 0;
	return min(min(dist_sp(s, t.a), dist_sp(s, t.b)), min(dist_sp(t, s.a), dist_sp(t, s.b)));
}

Point is_ll(Line s, Line t)
{
	double a = cross(s.b - s.a, t.b - t.a);
	double b = cross(s.b - s.a, s.b - t.a);
	return t.a + b / a*(t.b - t.a);
}

vector<Point> is_cc(Circle c1, Circle c2)
{
	vector<Point> res;
	double d = abs(c1.p - c2.p);
	double rc = (d*d + pow(c1.r, 2) - pow(c2.r, 2)) / (2 * d);
	double dfr = pow(c1.r, 2) - rc*rc;
	if (abs(dfr) < EPS) dfr = 0;
	if (dfr < 0.0) return res;
	double rs = sqrt(dfr);
	Point diff = (c2.p - c1.p) / d;
	res.push_back(c1.p + diff*Point(rc, rs));
	if (dfr != 0.0) res.push_back(c1.p + diff*Point(rc, -rs));
	return res;
}

int isis_cc(Circle c1, Circle c2)
{
	double d = abs(c1.p - c2.p);
	if (d - c1.r - c2.r < -EPS) return -2; //separate
	if (abs(d - c1.r - c2.r) < EPS) return -1; //circumscribe
	if (c1.r < c2.r) swap(c1, c2);
	if (abs(d - c1.r + c2.r) < EPS) return 1;//inscribe
	if (c1.r - d - c2.r > EPS) return 2;//involve
	else return 0;//intersect
}

bool isis_cl(Circle c, Line l)
{
	double d = dist_lp(l, c.p);
	return d - c.r < -EPS;
}

vector<Point> is_cl(Circle c, Line l)
{
	vector<Point> res;
	double d = dist_lp(l, c.p);
	if (d > c.r + EPS) return res;
	double len = (d > c.r) ? 0 : sqrt(c.r*c.r - d*d);
	Point nor = (l.a - l.b) / abs(l.a - l.b);
	res.push_back(projection(l, c.p) + len*nor);
	if (abs(len) > EPS) res.push_back(projection(l, c.p - len*nor));
	return res;
}

vector<Point> is_cs(Circle c, Line s)
{
	vector<Point> v = is_cl(c, s), res;
	REP(i, v.size())
	{
		if (ccw(s.a, v[i], s.b) == -2) res.push_back(v[i]);
	}
	return res;
}

vector<Line> tangent_cc(Circle c1, Circle c2)
{
	vector<Line> res;
	if (abs(c1.p - c2.p) - (c1.r + c2.r) > -EPS)
	{
		Point center = (c1.p * c2.r + c2.p * c1.r) / (c1.r + c2.r);
		res = tangent_cp(c1, center);
	}
	if (abs(c1.r - c2.r) > EPS)
	{
		Point out = (-c1.p * c2.r + c2.p * c1.r) / (c1.r - c2.r);
		vector<Line> nres = tangent_cp(c1, out);
		res.insert(res.end(), nres.begin(), nres.end());
	}
	else
	{
		Point v = c2.p - c1.p; v /= abs(v);
		Point q1 = c1.p + v * Point(0, 1) * c1.r;
		Point q2 = c1.p + v * Point(0, -1) * c1.r;
		res.push_back(Line(q1, q1 + v));
		res.push_back(Line(q2, q2 + v));
	}
	return res;
}

/*--------------------template--------------------*/
void dijkstra(Graph &g, vector<Weight> &d, int s)
{
	d.assign(g.size(), INF);
	d[s] = 0;
	typedef pair<Weight, int> P;
	priority_queue<P, vector<P>, greater<P>> que;
	que.push(P(0, s));
	while (!que.empty())
	{
		Weight dist = que.top().first;
		int v = que.top().second;
		que.pop();
		if (d[v] < dist) continue;
		REP(i, g[v].size())
		{
			Edge e = g[v][i];
			if (d[e.to] > d[v] + e.cost)
			{
				d[e.to] = d[v] + e.cost;
				que.push(P(d[e.to], e.to));
			}
		}
	}
}

int main()
{
	int na, nb;
	cin >> na >> nb;
	vector<Point> pa, pb;
	REP(i, na)
	{
		double x, y;
		cin >> x >> y;
		pa.emplace_back(x, y);
	}
	REP(i, nb)
	{
		double x, y;
		cin >> x >> y;
		pb.emplace_back(x, y);
	}
	double ans = INF;
	Line la(pa[0], pa[1]);
	Line lb(pb[0], pb[1]);
	Graph ga(pa.size()), gb(pb.size());
	REP(i, pa.size())REP(j, pa.size())
	{
		if (i == j) continue;
		if (isis_ss(lb, Line(pa[i], pa[j]))) continue;
		double d = abs(pa[i] - pa[j]);
		add_edge(ga, i, j, d);
		add_edge(ga, j, i, d);
	}
	REP(i, pb.size())REP(j, pb.size())
	{
		if (i == j) continue;
		if (isis_ss(la, Line(pb[i], pb[j]))) continue;
		double d = abs(pb[i] - pb[j]);
		add_edge(gb, i, j, d);
		add_edge(gb, j, i, d);
	}
	vector<Weight> da, db;
	dijkstra(ga, da, 0);
	dijkstra(gb, db, 0);
	chmin(ans, db[1] + abs(la.a - la.b));
	chmin(ans, da[1] + abs(lb.a - lb.b));
	if (ans >= INF) cout << -1 << endl;
	else cout << D10 << ans << endl;
	return 0;
}

Compiler output:
a.cc: In function 'std::vector<Line> tangent_cc(Circle, Circle)':
a.cc:212:23: error: 'tangent_cp' was not declared in this scope; did you mean 'tangent_cc'?
  212 |                 res = tangent_cp(c1, center);
      |                       ^~~~~~~~~~
      |                       tangent_cc
a.cc:217:37: error: 'tangent_cp' was not declared in this scope; did you mean 'tangent_cc'?
  217 |                 vector<Line> nres = tangent_cp(c1, out);
      |                                     ^~~~~~~~~~
      |                                     tangent_cc