Kantian ethics refers to a deontological ethical theory developed by German philosopher Immanuel Kant that is based on the notion that "I ought never to act except in such a way that I could also will that my maxim should become a universal law." It is also associated with the idea that "it is impossible to think of anything at all in the world, or indeed even beyond it, that could be considered good without limitation except a good will." The theory was developed in the context of Enlightenment rationalism. It states that an action can only be moral if it is motivated by a sense of duty, and its maxim may be rationally willed a universal, objective law.