#include <iostream>
using namespace std;

typedef struct Q{
    int x;
    int y;
}MyQueue;

MyQueue q[10001];
int front = 0;
int rear = 0;

void inqueue(int a, int b)
{
    q[front].x = a;
    q[front++].y = b;

}

int* dequeue()
{
    int ret[2] = { 0, };
    ret[0] = q[rear].x;
    ret[1] = q[rear++].y;

    return ret;
}

double pow2(int x)
{
    return x*x;
}

bool sol(int s[], int e[], int jump, int dol[][3], int num)
{

    int otp = 0;

    inqueue(s[0], s[1]);
    int esc = 0;

    while (front != rear)
    {
        int *check = dequeue();
        int rcheck[2] = { 0, };
        rcheck[0] = check[0];
        rcheck[1] = check[1];

        int egap = pow2((e[0] - rcheck[0])) + pow2((e[1] - rcheck[1]));
        if (jump*jump >= egap)  {
            esc = true;
            break;
        }

        for (int j = 0; j < num; j++)
        {
            int gap = pow2((dol[j][0] - rcheck[0])) + pow2((dol[j][1] - rcheck[1]));

            if (jump*jump >= gap)
            {
                if (dol[j][2] != 1)
                {
                    inqueue(dol[j][0], dol[j][1]);
                    dol[j][2] = 1;
                }
            }
            else{
                esc = false;
            }
        }

    }
    return esc;
}

int main()
{
    //note
    int testcase = 0;
    cin >> testcase;

    for (int i = 0; i < testcase; i++)
    {
        int jump = 0;
        cin >> jump;

        int start[2] = { 0, };
        int end[2] = { 0, };
        cin >> start[0] >> start[1];
        cin >> end[0] >> end[1];

        int dolnum = 0;
        cin >> dolnum;

        int dol[101][3] = { 0, };

        for (int j = 0; j < dolnum; j++)
        {
            cin >> dol[j][0] >> dol[j][1];
        }
        // input

        int val = sol(start, end, jump, dol, dolnum);

        if (val == true)
            cout << "YES" << endl;
        else
            cout << "NO" << endl;
        //END

        //초기화
        for (int k = 0; k < front; k++)
        {
             q[k].x = q[k].y = 0;
        }
        front = 0;
        rear = 0;
    }

    return 0;
}
~~~ (빈 줄)