What is often referred to as Classical Yoga or Astanga Yoga (Yoga of eight limbs) is mainly the type of Yoga outlined in the highly influential Yoga Sutras of Patanjali. The origins of the Classical Yoga tradition are unclear, though early discussions of the term appear in the Upanishads. The name "Rāja yoga" (yoga of kings) originally denoted the ultimate goal of yoga, samadhi, 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. Yoga is also considered as one of the orthodox philosophical schools (darsanas) of Hinduism (those which accept the Vedas as source of knowledge).
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In the early 11th century, the Persian scholar Al Biruni visited India, lived with Hindus for 16 years, and with their help translated several significant Sanskrit works into Arabic and Persian languages. One of these was Patanjali's Yogasutras. Al Biruni's translation preserved many of the core themes of Patañjali 's Yoga philosophy, but certain sutras and analytical commentaries were restated making it more consistent with Islamic monotheistic theology. Al Biruni's version of Yoga Sutras reached Persia and Arabian peninsula by about 1050 AD. Later, in the 16th century, the hath yoga text Amritakunda was translated into Arabic and then Persian. Yoga was, however, not accepted by mainstream Sunni and Shia Islam. Minority Islamic sects such as the mystic Sufi movement, particularly in South Asia, adopted Indian yoga practises, including postures and breath control. Muhammad Ghawth, a Shattari Sufi and one of the translators of yoga text in 16th century, drew controversy for his interest in yoga and was persecuted for his Sufi beliefs.
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