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

#define TRUE 1
#define FALSE 0
#define MAX_POINT_NUM 103 /* 100 + 2 + 1 */
short int visited[MAX_POINT_NUM];
typedef struct Point* PointPointer;
struct Point{
        int name;
        int x;
        int y;
};

typedef struct adj_list* adj_listPointer;
struct adj_list{
        int data;
        adj_listPointer link;
};

adj_listPointer* adj_header_list = (adj_listPointer*)malloc(MAX_POINT_NUM * sizeof(adj_listPointer));

PointPointer* Stone_list = (PointPointer*)malloc(MAX_POINT_NUM * sizeof(PointPointer));

double jump;
int N;
int num=0, cnt=0;

double dist(int i, int n){
        int distx = (Stone_list[i])->x - (Stone_list[n])->x;
        int disty = (Stone_list[i])->y - (Stone_list[n])->y;
        /*
        printf("i.x:%d, i.y:%d, num.x:%d, num.y:%d, distx:%d, disty:%d\n",(Stone_list[i])->x, (Stone_list[i])->y, (Stone_list[n])->x, (Stone_list[n])->y, distx, disty);
        */
        double dist = (double)(distx * distx + disty * disty);
        dist = sqrt(dist);
        return dist;
}

void Add_adj(int head, int tail){
        adj_listPointer x;
        adj_listPointer temp = (adj_listPointer)malloc(sizeof(adj_list));
        temp->data = tail;
        temp->link = 0;
        if(!(adj_header_list[head])){
                adj_header_list[head] = temp;
                return;
        }
        x = adj_header_list[head];
        while(x->link!=0){
                x = x->link;
        }
        x->link=temp; return;
}
void Find(){
        int i=0;
        while(i<num){
                double d = dist(i, num);
                //printf("i=%d num=%d d=%lf\n", i, num, d);
                if(jump >= d){/* add to adjacency list */
                        Add_adj(i, num);
                        Add_adj(num, i);
                }
                i++;
        }
}

void dfs(int v){/* depth first search of a graph beginning at v */
        adj_listPointer w;
        visited[v] = TRUE;
        cnt++;
        for(w = adj_header_list[v]; w; w = w->link){
                if(!visited[w->data])
                        dfs(w->data);
        }
}

void Init(){
        cnt=0;
        num=0;
        for(int i=0; i<MAX_POINT_NUM; i++){
                Stone_list[i] = 0;
                adj_header_list[i] = 0;
        }
}
void Add_to_Stone_list(){
        int posx, posy;
        scanf("%d", &posx);
        scanf("%d", &posy);
        PointPointer temp = (Point*)malloc(sizeof(Point));
        temp->x = posx;
        temp->y = posy;
        temp->name=num;
        Stone_list[num] = temp;
}

void Task(){
        Add_to_Stone_list();
        Find();
        num++;
}
void FREE(){
        for(int i=0; i<MAX_POINT_NUM; i++){
                if(Stone_list[i]){
                        free(Stone_list[i]);
                }
                if(adj_header_list[i]){
                        adj_listPointer p, temp;
                        p = adj_header_list[i];
                        while(p){
                                temp = p->link;
                                free(p);
                                p = temp;
                        }
                }
        }
}
int main(){
        int cases;
        scanf("%d", &cases);
        while(cases--){
                Init();
                int jump_int=0;
                scanf("%d", &jump_int);
                jump = (double)jump_int;
                /* starting Point */
                Task();
                /* end Point */
                Task();
                /*number of stone */
                scanf("%d", &N);
                while(N--){
                        Task();
                }
                dfs(0); /* make DFS(0) spanning Tree */
                //printf("cnt: %d\n", cnt);
                //printf("num: %d\n", num);
                if(cnt == num){
                        printf("YES\n");
                }
                else{
                        printf("NO\n");
                }
                FREE();
        }
        free(Stone_list);
        free(adj_header_list);
}