एभिरङ्गैः समायुक्तो राजयोग उदाहृतः ।किञ्चित्पक्वकषायाणां हठयोगेन संयुतः ॥ १४३ ॥
In plain words
Complete with these limbs, this is what is called Rājayoga — the royal path. And for those in whom the old passions have been only partly burned away, it is joined with Haṭhayoga.
Close to the Sanskrit
Fully equipped with these limbs, it is declared to be Rājayoga; for those whose impurities are only somewhat burnt away, it is joined with Haṭhayoga.