What is the best time of the day to do yoga?

I thinking is good to do yoga in the morning since it is a good way to stretch at kick start the morning. This answer probably makes no sense.

I enjoy midafternoon yoga. If I wait too long (to evening) I miss out on the boost of energy I get from an earlier session. Too early, and I find my body is not yet warm enough and I will feel sore the next day.