Yagyū Shinkage-ryū
The one who codified the techniques of the Yagyū Shinkage-ryū into its traditional form was the fifth "soke" (heir), Yagyū Toshikane. He codified all the basic instruction ("kihon-waza") into a document known as "Hassei-hō" or more commonly "Sei-hō". These series were responsible for making understood the essential points of forms ("kata") that had been transmitted by Munenori. Before the advent of modern "kendō", he created a form of free fighting in teaching with "shinai".