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The so-called Raja Yoga refers to Ashtanga Yoga, the eight limbs to be practiced to attain samadhi, as described in the Yoga Sutras of Pantajali.
Its epistemology (pramanas) is same as the Samkhya school.
Yoga can take on meanings such as "connection", "contact", "union", "method", "application", "addition" and "performance". For example, guṇáyoga means "contact with a cord"; chakráyoga has a medical sense of "applying a splint or similar instrument by means of pulleys (in case of dislocation of the thigh)"; chandráyoga has the astronomical sense of "conjunction of the moon with a constellation"; puṃyoga is a grammatical term expressing "connection or relation with a man", etc.
Thus, bhaktiyoga means "devoted attachment" in the monotheistic Bhakti movement.
Core techniques have been preserved in ancient Buddhist texts and have proliferated and diversified through teacher-student transmissions.
Buddhists pursue meditation as part of the path toward Enlightenment and Nirvana.
The Middle Ages saw the development of many satellite traditions of yoga.
This interpretation is considered speculative and uncertain by more recent analysis of Srinivasan 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", According to Geoffrey Samuel, "Our best evidence to date suggests that [yogic] practices developed in the same ascetic circles as the early sramana movements (Buddhists, Jainas and Ajivikas), probably in around the sixth and fifth centuries BCE." "[Jainism] does not derive from Brahman-Aryan sources, but reflects the cosmology and anthropology of a much older pre-Aryan upper class of northeastern India [Bihar] – being rooted in the same subsoil of archaic metaphysical speculation as Yoga, Sankhya, and Buddhism, the other non-Vedic Indian systems." The Yogis of Vedic times left little evidence of their existence, practices and achievements.More prosaic moods such as "exertion", "endeavour", "zeal", and "diligence" are also found in Indian epic poetry.There are very many compound words containing yoga in Sanskrit.English yoke and Latin iugum/jugum), the word took on broader meanings such as "employment, use, application, performance" (compare the figurative uses of "to harness" as in "to put something to some use").All further developments of the sense of this word are post-Vedic.