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

double distance(int a,int b, int c,int d){
    float e=0.0;
    double f=0.0;
    e=(float)(c-a)*(c-a)+(d-b)*(d-b);
    f=sqrt(e);
    return f;
}
int distinguish(int J,int start_x,int start_y,int end_x,int end_y,int stone[50][50]){

    int i,j,a=0;

    for(i=start_x;i<50;i++){
        for(j=start_y;j<50;j++){
            if(stone[i][j]==1){

                if(J>=distance(start_x,start_y,i,j)&&(i!=start_x||j!=start_y)){                 
                    a=distinguish(J,i,j,end_x,end_y,stone);
                }
                if(J>distance(start_x,start_y,end_x,end_y))

                    return 1;
            }
        }
    }
    return a;
}
int main(){

    int test=0,x,y,stone_count=0,i[10]={0,},k,j=0;
    int J=0;
    int start_x,start_y;
    int end_x,end_y;
    int stone[50][50]={0,};

    scanf("%d",&test);
    for(k=0;k<test;k++){

        scanf("%d",&J);
        scanf("%d %d",&start_x,&start_y);
        scanf("%d %d",&end_x,&end_y);
        scanf("%d",&stone_count);
        while(j++<stone_count){
            scanf("%d %d",&x,&y);
            stone[x][y]=1;
        }
        j=0;
        i[k]=distinguish(J,start_x,start_y,end_x,end_y,stone);


    }
    for(k=0;k<test;k++)
        if(i[k]==1)
            printf("YES\n");
        else if(i[k]==0)
            printf("NO\n");
    return 0;
}