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

typedef struct _Stone
{
    double x, y;
    bool visit;
} Stone;

bool JumpCheck(Stone t1, Stone t2, double J)
{
    double tJ = sqrt(((t1.x - t2.x) * (t1.x - t2.x)) + ((t1.y - t2.y) * (t1.y - t2.y)));
    if(tJ <= J)
    {
        return true;
    }
    return false;
}

int main(void)
{
    int T, J, N;        
    queue<Stone> qStone;
    Stone tStart, tEnd;
    Stone tStone[3000];

    cin >> T;
    while(T--)
    {
        tEnd.visit = false;
        while(!qStone.empty())
        {
            qStone.pop();
        }

        cin >> J;
        cin >> tStart.x >> tStart.y;
        cin >> tEnd.x >> tEnd.y;
        cin >> N;
        for(int i = 0; i < N; i++)
        {
            cin >> tStone[i].x >> tStone[i].y;
            tStone[i].visit = false;
        }

        for(int i = 0; i < N; i++)
        {
            if(JumpCheck(tStart, tStone[i], J))
            {
                tStone[i].visit = true;
                qStone.push(tStone[i]);
            }
        }

        while(!qStone.empty())
        {
            for(int i = 0; i < N; i++)
            {
                if(JumpCheck(qStone.front(), tStone[i], J) && tStone[i].visit == false)
                {
                    tStone[i].visit = true;
                    qStone.push(tStone[i]);
                }  
            }
            if(JumpCheck(qStone.front(), tEnd, J))
            {
                tEnd.visit = true;
                break;
            } 
            qStone.pop();
        }

        if(tEnd.visit)
            cout << "YES" << endl;
        else
            cout << "NO" << endl;
    }
    return 0;
}