In Tantra, yoga could also be used as a technique for generating additional bodies for oneself and also for entering other people’s bodies (a magical technique).
Earlier on, Mahāyaṇa texts (Mādhyamika) had mentioned yoga as a method of meditation.
As a school of philosophy, yoga is sometimes called “Rāja Yoga.” Yoga philosophy was given this term by Hindu reformers in recent history (19th century) to emphasize that it includes both physical and mental practices.