No hammer. Some guys use a jig. I typically bend the knife against the edge of my bench. The steel is quite pliable the first 5-10 min after quench. You can get it pretty straight in that time. Once it starts to stiffen in hand, stop, as it is becoming brittle. This is when I do a snap temper to relieve stress. I use a temp about 50f below the projected tempering temp. (300f for 15n20, 325 for 52100, 300-325f for O1, 375 for W2/W1/1095, 350f for Hitachi White. This way, I can check hardness, and adjust final temp as needed. Depending on the steel and the knife, I aim for Rc61-63 for a final hardness. Right after temper, the steel is a little pliable. You have 3 or 4 minutes to do some adjusting. Repeat until straight. This is easier on lower Rc knives, as most steels are more pliable once you pass 400f, but that would be too soft for most kitchen knives.
I wish I had some pics of a time temp kitchen knife, but my camera memory card failed. I am doing a Hitachi White fighter now, and should be finished sanding it this weekend. I'll post a pic of that when finished. Look up Nick Wheeler as he has some amazing examples of this technique. It works better on thicker blades as geometry has a large impact on the outcome.
The warping is from the different phases of the steel. The hardened area is martensite, which distorts the grain during quench, the softer areas are perlite, which has a different shape to the grain. Unless each side transformed exactly the same, there will be an imbalance in the grain structures side to side. The more even you get it, the less warp there will be. Thicker knives are less likely to warp. I haven't done a straight kitchen knife with a hamon yet.