viniyamya samantataḥ

sah-that yoga system; niscayena-with firm determination; yoktavyah-must be practiced; yogah-in such practice; anirvinna-cetasa-without deviation; saṅkalpa-material desires; prabhavan-born of; kaman-sense gratification; tyaktva-giving up; sarvan-all; asesatah-completely; manasa-by the mind; eva-certainly; indriya-gramam-the full set of senses; viniyamya-regulating; samantatah-from all sides.