Mutually Consensual, Voluntary, Honest Agreement

Is honest, fully informed consent to have sex, by an adult who really wants to have sex with you, sufficient justification to have sex with her/him if you also are an adult and want to have sex with her/him? That is, if you are both legally competent adults and both voluntarily mutually agree to have sex with each other and both want to have sex with each other and neither of you is lying to the other about anything, is that sufficient grounds for doing so? Why or why not? If you both want to have sex and both give informed consent (there are no lies being told by either to the other, no knowledge of relevant information intentionally withheld, no coercion, etc.), is there anything wrong with your having sex? If so, what could be wrong with it, and why? If more than one thing, name them all, and explain why they make it wrong.