According to Pāṇini, the term yoga can be derived from either of two roots, yujir yoga (to yoke) or yuj samādhau ("to concentrate").[27] In the context of the Yoga Sutras of Patanjali, the root yuj samādhau (to concentrate) is considered by traditional commentators as the correct etymology.[28] In accordance with Pāṇini, Vyasa who wrote the first commentary on the Yoga Sutras,[29] states that yoga means samādhi (concentration).[30]
What is often referred to as Classical Yoga, Astanga (Yoga of eight limbs), or Raja Yoga is mainly the type of Yoga outlined in the highly influential Yoga Sutras of Patanjali.[237] The origins of the Classical Yoga tradition are unclear, though early discussions of the term appear in the Upanishads.[238] The name "Rāja yoga" (yoga of kings) originally denoted the ultimate goal of yoga, samadhi,[239] but was popularised by Vivekananda as a common name for Ashtanga Yoga,[note 19] the eight limbs to be practised to attain samadhi, as described in the Yoga Sutras.[240][237] Yoga is also considered as one of the orthodox philosophical schools (darsanas) of Hinduism (those which accept the Vedas as source of knowledge).[241][242]

Later developments in the various Buddhist traditions led to new innovations in yogic practices. The Theravada school, while remaining relatively conservative, still developed new ideas on meditation and yogic phenomenology in their later works, the most influential of which is the Visuddhimagga. The Indic meditation teachings of Mahayana Buddhism can be seen in influential texts like the Yogācārabhūmi-Śāstra (compiled c. 4th century). Mahayana meditation practices also developed and adopted new yogic methods, such as the use of mantra and dharani, pure land practices which aimed at rebirth in a pure land or buddhafield, and visualization methods. Chinese Buddhism developed its own methods, such as the Chan practice of Koan introspection and Hua Tou. Likewise, Tantric Buddhism (also Mantrayana, Vajrayana) developed and adopted tantric methods, which remain the basis of the Tibetan Buddhist yogic systems, including the Six yogas of Naropa, Kalacakra, Mahamudra and Dzogchen.[251]
Śaradatilaka of Lakshmanadesikendra, a Shakta Tantra work 11th century CE "Yogic experts state that yoga is the oneness of the individual soul (jiva) with the atman. Others understand it to be the ascertainment of Siva and the soul as non-different. The scholars of the Agamas say that it is a Knowledge which is of the nature of Siva’s Power. Other scholars say it is the knowledge of the primordial soul." (SaTil 25.1–3b)[35]
^ The Pāli and Sanskrit word bhāvanā literally means "development" as in "mental development." For the association of this term with "meditation," see Epstein (1995), p. 105; and, Fischer-Schreiber et al. (1991), p. 20. As an example from a well-known discourse of the Pali Canon, in "The Greater Exhortation to Rahula" (Maha-Rahulovada Sutta, MN 62), Ven. Sariputta tells Ven. Rahula (in Pali, based on VRI, n.d.): ānāpānassatiṃ, rāhula, bhāvanaṃ bhāvehi. Thanissaro (2006) translates this as: "Rahula, develop the meditation [bhāvana] of mindfulness of in-&-out breathing." (Square-bracketed Pali word included based on Thanissaro, 2006, end note.)

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"...[T]here is the cultivation of meditative and contemplative techniques aimed at producing what might, for the lack of a suitable technical term in English, be referred to as 'altered states of consciousness'. In the technical vocabulary of Indian religious texts such states come to be termed 'meditations' ([Skt.:] dhyāna / [Pali:] jhāna) or 'concentrations' (samādhi); the attainment of such states of consciousness was generally regarded as bringing the practitioner to deeper knowledge and experience of the nature of the world." (Gethin, 1998, p. 10.)

According to Crangle, some researchers have favoured a linear theory, which attempts "to interpret the origin and early development of Indian contemplative practices as a sequential growth from an Aryan genesis",[53][note 4] just like traditional Hinduism regards the Vedas to be the ultimate source of all spiritual knowledge.[55][note 5] Thomas McEvilley favors a composite model where pre-Aryan yoga prototype existed in the pre-Vedic period and its refinement began in the Vedic period.[58]
Theosophists including Madame Blavatsky also had a large influence on the Western public's view of Yoga.[210] Esoteric views current at the end of the 19th century provided a further basis for the reception of Vedanta and of Yoga with its theory and practice of correspondence between the spiritual and the physical.[211] The reception of Yoga and of Vedanta thus entwined with each other and with the (mostly Neoplatonism-based) currents of religious and philosophical reform and transformation throughout the 19th and early 20th centuries. Mircea Eliade brought a new element into the reception of Yoga with the strong emphasis on Tantric Yoga in his seminal book: Yoga: Immortality and Freedom.[212] With the introduction of the Tantra traditions and philosophy of Yoga, the conception of the "transcendent" to be attained by Yogic practice shifted from experiencing the "transcendent" ("Atman-Brahman" in Advaitic theory) in the mind to the body itself.[213]
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