#include <stdio.h>
#include <math.h>
int main(void) {
	int t,j,n, p[103][2],i,k,m;
	scanf("%d",&t);
	while(t--){
		scanf("%d%d%d%d%d%d",&j,&p[0][0],&p[0][1],&p[1][0],&p[1][1],&n);
		j=j*j;
		for(i=2,n+=2;i<n;i++){ scanf("%d%d",&p[i][0],&p[i][1]); }
		for(i=1,m=2;i<m;i++){
			if(pow(p[i][0]-p[0][0],2)+pow(p[i][1]-p[0][1],2)<=j) break;
			for(k=m;k<n;k++){
				if(pow(p[i][0]-p[k][0],2)+pow(p[i][1]-p[k][1],2)<=j){
					p[102][0] = p[m][0]; p[102][1] = p[m][1];
					p[m][0] = p[k][0]; p[m][1] = p[k][1];
					p[k][0] = p[102][0]; p[k][1] = p[102][1];
					m++;
				}
			}
		}
		if(i<m) printf("YES\n");
		else printf("NO\n");
	}
	return 0;
}
 

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2
1 1
4 1
3
4 2
1 2
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3
1 1
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4 1
9 7
6 4
4 4