Generally, something is done voluntarily if it is not done out of ignorance. For example, if a man drives the wrong way down a one-way street and it turns out that he did not know it was one-way—for instance, because the information he relied on came from an unreliable source. He cannot be justified on the basis that he did not do so voluntarily. Knowledge and ignorance are opposed, not mutually exclusive, concepts, and voluntariness is defined in terms of ignorance, not knowledge. In terms of liberty, it might be opposed to either necessity or compulsion. As we shall see, these are not synonymous notions, and if voluntariness is defined in terms of liberty, it must be made clear that 'liberally' means without coercion.
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