The perfect training supplement for martial artists, The Martial Artist's Book of Yoga shows how the ancient practice of yoga was the genesis of all martial arts. It clearly illustrates how specific yoga poses can directly improve one's martial arts abilities, with asanas that the reader can easily incorporate into a balanced workout.
Designed for those practicing any martial art including judo, karate, kung fu, tae kwon do, jujitsu, and hapkido, the book explains the training needs and challenges of the various universal kicks, strikes, blocks, throws, falls, joint locks, and grappling. Then the author identifies the underlying fundamentals necessary to advance one's skill in each area and presents a series of yoga poses specially selected to make those improvements - from increased flexibility and strength to better body control and balance.
Really super guide to yoga for martial arts - I would say you need some basic yoga knowledge so that you don't injure yourself. But really, a lot of what I do in karate classes is so similar it's easy enough to pick up even if I didn't have that yoga experience already. I can't speak to the grappling/throws sections but certainly the kicks chapter is very useful. The photos are clear enough even to use on an e-ink Kindle. All I would like to have seen is a few example routines, but using it in combination with a site like yogaglo.com means you can pick out classes which focus on the poses you need.