#include <stdio.h>
#include <math.h>

double edge[150][150];
bool visit[150];
int jump,stone;
int point[150][2]={0};
int start[2],end[2];

double distance(double xa, double ya, double xb, double yb){
    return sqrt(pow(xa-xb,2.0)+pow(ya-yb,2.0));
}

bool survive(int i){
    bool ret=false;
    //printf("i %d\n",i);

    visit[i]=true;

    if(distance(end[0],end[1], point[i][0],point[i][1])<=jump)
    return true;

    for(int k=0; k<stone; k++){
        if(!visit[k] && edge[i][k]!=0 && edge[i][k]<=jump)
            ret|=survive(k);
    }

    return ret;
}

int main(){
    int tc;
    FILE* fp=stdin;
    fscanf(fp,"%d", &tc);
    int i,j,k;
    for(k=0; k<tc; k++){
        fscanf(fp,"%d", &jump);


        fscanf(fp,"%d %d %d %d", &start[0], &start[1], &end[0], &end[1]);
        fscanf(fp, "%d", &stone);
        for(i=0; i<stone; i++)
            fscanf(fp, "%d %d", &point[i][0], &point[i][1]);



        for(i=0; i<stone; i++){
            for(j=0; j<stone; j++){
                edge[i][j] = distance(point[i][0],point[i][1],point[j][0],point[j][1]);
                //edge[j][i]=edge[i][j];
                //printf("edge %lf %d %d \n", edge[i][j], i,j);
            }
        }
        bool ret=false;
        for(i=0; i<stone; i++){
            if(distance(start[0],start[1], point[i][0],point[i][1])<=jump)
            ret|=survive(jump);
        }

        if(ret) printf("YES\n"); else printf("NO\n");

    }
}