aamirsaab
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Ok I'm going to simplify this as best as I can:
Due to humans lack of knowledge, we at times in our life have what we define as a choice i.e. to take action X or action Y. At this moment in time, we have a choice.
God, being all-knowing and all-seeing, KNOWS for a fact that I will take action X out of the two possible actions in this particular case. Since, however, humans are not all-knowing, we are convinced that we have a choice in the matter.
Since choice relies on perception, and our perception as humans is miniscule compared to God, we have what is defined as a choice. Regardless of what God has foreseen, we still make choices - we do not know what action God has forseen until we instigate or initiate the action. Thus our choice is not affected by God's knowledge, thus we have choice.
With a greater perception, we would not be under an illusion of choice - instead it would be one action or one choice. However, as stated before, our perception is limited. Therefore, God is indeed all-knowing but, this does not affect our ability to chose since we do not know what God has forseen. Our ability to chose ends after an action (or choice) has been taken - it is then and only then do we know what action God had forseen, but by then it doesn't matter since the action has occured.