Also available from this author: The Inner Yoga of Happiness
The author has taught meditation and yoga philosophy for 25 years; and has been trained extensively by Buddhist, Sufi and Siddha masters in India and the United States. Education in the sciences has brought a measure of empiricism to the appreciation of eastern philosophy. Thus in the commentary on the sutras you will find the practices, and orientation to meditation, driven by the veracity of the author's own experience.