The following are examples of verbs which may have infinitives as objects:
In the following sentence the second verb is the objective infinitive (LABORARE) and the main verb is DESEDERARE.
VIR SERVOS LABORARE DESEDERAT
LABORARE is the objective infinitive.
There is also in the book a Subjective infinitive with very little explanation as to how it works except it is obvious which verb is the subjective infinitive. There are no rules as to ...