I am a Pilates and Yoga instructor, so I can give you this information.
I can honestly say that Pilates copied Yoga.
Pilates added a few different breaths to his exercises, but it is mainly Yoga.
They are both great, but in my opinion, when you study Yoga in more detail, Yoga seems to be a complete system.
Don't get me wrong. Pilates is also great.
To exercise under my method, you can also download my exercise videos available on this website.
We all have heard of Pilates and Yoga.