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In Sanskrit texts, Rāja yoga was both the goal of yoga and a method to attain it. The term also became a modern name for the practice of yoga in the 19th-century when Swami Vivekananda gave his interpretation of the Yoga Sutras of Patanjali in his book Raja Yoga. Since then, Rāja yoga has variously been called aṣṭāṅga yoga, royal yoga, royal union, sahaja marg, and classical yoga. Wikipedia