import java.awt.Point;
import java.util.ArrayList;
import java.util.HashSet;
import java.util.List;
import java.util.Scanner;
import java.util.Set;


public class Main {
    boolean[][] path;
    List<Point> rockList;
    Set<Integer> reachable;

    public static void main(String[] args) {
        new Main();
    }

    public Main() {
        Scanner scn = new Scanner(System.in);

        int cnt = scn.nextInt();
        for(int i = 0; i < cnt; i++) {
            int jumpLimit = scn.nextInt();

            Point start = new Point(scn.nextInt(), scn.nextInt());
            Point last = new Point(scn.nextInt(), scn.nextInt());

            rockList = new ArrayList<Point>();
            reachable = new HashSet<Integer>();

            int rockCnt = scn.nextInt();
            path = new boolean[rockCnt + 2][rockCnt + 2];

            rockList.add(start);
            for(int j = 0; j < rockCnt; j++) {
                rockList.add(new Point(scn.nextInt(), scn.nextInt()));
            }
            rockList.add(last);
            reachable.add(0);
            makePath(rockList, jumpLimit);

            System.out.println(reachable.contains(rockList.size() - 1)? "YES" :"NO");
        }

        scn.close();
    }

    public void makePath(List<Point> list, int jumpLimit) {
        for(int i = 0; i < list.size(); i++) {
            for(int j = 0; j < list.size(); j++) {
                if(i != j) {
                    if(Math.pow((list.get(i).x - list.get(j).x), 2)
                            + Math.pow((list.get(i).y - list.get(j).y), 2)
                            <= jumpLimit * jumpLimit) {
                        path[i][j] = true;
                        if(reachable.contains(i))
                            reachable.add(j);
                    }
                }
            }
        }
    }
}