Warp Theory was a subject taught at Starfleet Academy. Further use of warp theory included the study of advanced propulsion methods such as speeds of warp 10. (VOY: "Non Sequitur", "Threshold")

Warp theory was the study of the ability to travel at speeds exceeding that of light. The creator of warp theory on Earth was Zefram Cochrane in 2060. It was required reading at the Academy. (Star Trek: First Contact)