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Since the days of Aristotle, voluntary has been a prerequisite for the morality of actions. Someone's action cannot be judged morally unless it was voluntarily chosen. But the meaning of voluntary has shifted. Here follow a couple of thoughts on what voluntary means.
The formal definition of voluntary means the action or choice is made of free will. It must be without coercion, i.e. the use or threat of physical violence. Choosing with a gun to one's head is not a voluntary choice. 
In everyday language we say there's "no choice" if one option appears much better than the other ones. This is, strictly speaking, incorrect, since there *is* a choice. It only appears obvious due to one's valuation of the alternatives. This applies whether it's voluntary or not.
