principal meanings: A disciplined method for attaining a goal Techniques of controlling the body and mind A name of a school or system of philosophy () With prefixes such as "hatha-, mantra-, and laya-, traditions specialising in particular yoga techniques The goal of Yoga practice David Gordon White writes that yoga's core principles were more or less in place in the 5th century CE, and variations of the principles developed over time: A meditative means of discovering dysfunctional perception and cognition, as well as overcoming it to release any suffering, find inner peace, and salvation. Illustration of this principle is found in Hindu texts such as the Bhagavad Gita and Yogasutras, in a number of Buddhist Mahāyāna works, as well as Jain texts. The raising and expansion of consciousness from oneself to being coextensive with everyone and everything. These are discussed in sources such as in Hinduism Vedic literature and its epic Mahābhārata, the Jain Praśamaratiprakarana, and Buddhist Nikaya texts. A path to omniscience and enlightened consciousness enabling one to comprehend the impermanent (illusive, delusive) and permanent (true, transcendent) reality. Examples of this are found in Hinduism Nyaya and Vaisesika school texts as well as Buddhism Mādhyamaka texts, but in different ways. A technique for entering into other bodies, generating multiple bodies, and the attainment of other supernatural accomplishments. These are, states White, described in Tantric literature of Hinduism and Buddhism, as well as the Buddhist Sāmaññaphalasutta. James Mallinson, however, disagrees and suggests that such fringe practices are far removed from the mainstream Yoga's goal as meditation-driven means to liberation in Indian religions. According to White, the last principle relates to legendary goals of yoga practice; it differs from yoga's practical goals in South Asian thought and practice since the beginning of the Common Era in Hindu, Buddhist, and Jain philosophical schools. History There is no consensus on yoga's chronology or origins other than its development in ancient India. There are two broad theories explaining the origins of yoga. The linear model holds that yoga has Vedic origins (as reflected in Vedic texts), and influenced Buddhism. This model is mainly supported by Hindu scholars. According to the synthesis model, yoga is a synthesis of indigenous, non-Vedic practices with Vedic elements. This model is favoured in Western scholarship. Speculations about yoga began to emerge in the early Upanishads of the first half of the first millennium BCE, with expositions also appearing