Q: moral criterion and moral sense

A generic definition of each
or
This is an excerpt from A defense of Evolutionary Ethics, can someone summarize the following and explain the difference between moral criterion and sense as Darwin implies?
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" From the beginning of formulation of a moral theory, in the late 1830s, Darwin recognized a chief competitive advantage of his approach. He could explain what other moralists merely assumed: he could explain how the moral criterion and the moral sense were linked. Sir James Mackintosh, from whom Darwin borrowed the basic framework of his moral conception, declared that the moral sense for right conduct had to be distinguished from the criterion of moral behavior. We instinctively perceive murder as vile, but in a cool moment of rational evaluation, we can also weigh the disutility of murder. When a man jumps into the river to save a drowning child, he acts impulsively and without deliberation, while those safely on shore may rationally evaluate his behavior according to the criterion of virtuous behavior. Mackintosh had no satisfactory account of the usual coincidence between motive and criterion. He could not easily explain why impulsive actions might yet be what moral deliberation would recommend. Darwin believed he could succeed where Mackintosh failed; he could provide a perfectly natural explanation of the linkage between moral motive and the moral criterion. Under the aegis of community selection, men in social groups evolved sets of instinctive responses to preserve the welfare of the community. This common feature of acting for the community welfare would then become, for intelligent creatures who reacted favorably to the display of such moral impulses, an inductively derived but dispositionally encouraged general principle of appropriate behavior. What served nature as the criterion for selecting behavior became the standard of choice for her creatures as well."