 For Kant the aim of moral philosophy is to discover ideas and principles that would constitute as pure a concept of will as possible and not to determine the actions and conditions of willing, which are mainly the concerns of psychology (Grundlegung, Intro., XII). The good will is good not through its result or its capacity to attain a predetermined end, but only by means of the willing itself. (Grundlegung, I, 3). The will’s ability for self-determination according to universally binding laws conveys the objectivity demanded by the proper concept of reason. Since a rational nature declares itself by the self-imposition of the end, morality is the relationship of actions to the autonomy of the will; and this autonomy is the relation of the will to the most universal mandating (Gesetzgebung) possible. (Grundlegung, II, 83 &amp; 85–86). The will purified of any inclination and desire for an ulterior end is the proper matter for practical reason.