An example of warping: in several instances, I put a vessel in which we were voyaging, into a very tight end tie or wharf. Also when a heavy beam wind is pushing onto a dock, we would set a 12# or 22#, off the beam--in some cases we would drop the anchor as we were moving into the dock, others we used the dinghy to take the anchor out.
We would then warp the boat off the dock (sailboat having cockpit winches, or power boat using a capstan and blocks fair lead to the anchor windlass, with capstan.)
It is a neat trick to move the boat out of a very tight spot.