What counts as "vigorous effort"?

I did 90 minutes of exercise today...it was kind of a mash up of cardio and calisthenics that I did to some fitness videos on Youtube. Every part of my body is sore now and I was sweating like crazy and gasping by the end of the work out and my heart was going a mile fast. But I'm not sure how to determine if it was moderate or vigorous effort. I did push myself, that's for sure. What would make it a moderate workout? What about vigorous?