The Yogasūtras of Patañjali (200 B. C.) is the basic work of Yoga philosophy, one of the six systems of Hindu philosophy.
This has a commentary called Vyāsa-bhāṣya by one Vyāsa (A. D. 600). On this Vācaspati (A. D. 850) has written a learned gloss known as Tattvavaiśāradī. This is considered a standard elucidation of not only the Vyāsabhāṣya but also of Yoga philosophy itself.
See also YOGADARŚANA.