#include<iostream>
#include<queue>
using namespace std;

typedef struct point{
    int x, y, visit;
}point;

int pow(int a)
{
    return a*a;
}

int chk(int x1, int x2, int y1, int y2)
{
    return (pow(x2 - x1) + pow(y2 - y1));
}

int main()
{
    queue<pair<int, int>> q;

    int jump, stNum, n, pass, x, y;
    point start, end, st[100];

    cin >> n;

    for (int j = 0; j < n; j++) // 입력
    {
        pass = false;
        cin >> jump >> start.x >> start.y >> end.x >> end.y >> stNum;

        q.push(make_pair(start.x, start.y));    // 시작점 큐에 넣기

        x = start.x;
        y = start.y;

        for (int i = 0; i < stNum; i++) // 돌 개수 만큼 반복문
            cin >> st[i].x >> st[i].y;

        while (!q.empty() && !pass){
            for (int i = 0; i < stNum; i++)
            {
                if (pow(jump) >= chk(x, end.x, y, end.y)){  // 돌 좌표에서 도착지점까지 도착할 수 있을 때 종료
                    pass = true;
                    break;
                }
                else if (pow(jump) >= chk(x, st[i].x, y, st[i].y) && st[i].visit != 1)  
                {
                    q.push(make_pair(st[i].x, st[i].y));
                    st[i].visit = 1;
                }
            }
            q.pop();
            if (!q.empty()){
                auto p = q.front();
                x = p.first;
                y = p.second;
            }
        }
        if (pass) cout << "YES" << endl;
        else cout << "NO" << endl;
    }
    return 0;
}


~~~ (빈 줄)