Contemplation versus meditation

Is there an obvious or well-understood difference between "contemplation" and "meditation"? I'm reading a book -- modern, probably Tibetan-language originally, translated into English -- talking about the "lack of fixation" and "realization of the nature of the mind". It says that all the Buddhas have taught this and, > There are two ways we can come to know it: through study and inference or by knowing it directly. The way we need to know it is through direct yogic experience in meditation. We need to develop the discernment that knows this. This discernment is not the intelligence of either listening or contemplation; it is the intelligence of meditation. I don't know how to distinguish "contemplation" from "meditation" -- or "direct yogic experience" as opposed to an[y] other mental experience or phenomenon.