Capoeira

In the warm-up sequence in the Rushfit workouts there is one exercise based on capoeira, a Brazilian style of dance and martial arts. According to the wikipedia article, capoeira was invented starting in the sixteenth century, mainly by escaped slaves and their descendants. Here is a marvelous video clip of two master capoeiristas. There was a somewhat similar situation with yoga in colonial India; for some practitioners it was a martial arts program disguised as a self-improvement regimen.