Rudy, warping is something of a forgotten art. I think folks are just embarrassed to do it. But if you have a pair of extra long docklines, or spare genoa sheets, that's a good start. Basically, if you get throw a rope around any fixture on the dock (and horn
cleats and bollards are both designed so you can throw a
line around them) you can use that as a pivot point, get another end on the bow/stern of your boat as need be, and just muscle the boat into place, using the
lines to control it all.
Of course, having some long spare
lines (which can be old cheap and ugly) neatly coiled and ready to throw are the important part of this. You don't have to be a cowboy and lasso anything, just get a
line over/past something and around it, and you can capture it.
If you make sure there are no knots in those
lines--that way you can also let them run free, to disengage them without having to step off the boat.