Basically yes, but I don’t mean the physical exercises known as
yogaasana ... these are done to stabilize the mind and body to enable meditation and contemplation. Any practice that is meant to lead to a union between the soul and God can be termed Yoga. So there are four primary yoga paths:
bhakti yoga - yoga of devotion,
karma yoga - yoga of right actions,
jnana yoga - yoga of knowledge,
raja yoga - yoga of contemplation/meditation. The purpose of all four is ultimately the same.
You will find this kind of prayer in all religions. I don’t really see a problem in this type of prayer. I think humans need this kind of prayer because we need to acknowledge that there is force greater us who is omnipotent. It is a stage of development along the path of the spiritual evolution. Granted that prayers may or may not come true, and when they do, you don’t really know if God made them come true or not. Although this type of prayer is selfish, if nothing else it strengthens people’s faith in the existence of God. Since the existence of God cannot be proven by material means, one has to first cultivate a firm belief that God does exist. Once one realizes the Truth, all the other means of communion with God are seen as valid - this is what the masters have said. Those who have come to the realization see the true meaning of prayer and worship and, therefore, do not condemn rituals or prayers, but encourage them. An important point to consider is that all people may not be ready for meditation quite yet. So they develop through prayers and ritual worship. Once one gains Self-realization, then only do the prayers and ritual worship become selfless actions, and become much more meaningful to that person, as Taijasi pointed out. This is why realized yogis do not condemn rituals and prayers, but practice it themselves.
If this is true, then the reason is karma. If you believe in karma, then you cannot
really believe God giveth, God taketh away. So, you can pray all you want, but if your prayers don’t come true, there’s no point in blaming God. God does not absolve karma, and neither do pilgrimages, dips in a holy rivers, rituals, prayers, etc. All these practices only help a person get spiritually closer to God. They also inspire the person to lead a better life and resolve her/his karmas.