Thank you very much for your answers Thomas Thompion and CalifJim,
Those ambiguities are exactly the problem for me, specially in regard to expressing "past ability". In many situations I can't easily decide what "could" or "could have" really mean : "able", "possible" or "optional".
I most often understand "could have + verb" as "
quite possible action which didn't happen" but sometimes also as denoting "
ability to do". "
Was able to" many times sounds awkward to me as it would be for example in the slightly different sentence from the one Thomas gave in his post :
The fire was raging but luckily I was able to open the door.
I tend to use "could" instead of "was able" in similar situations but in Michael Swan's "Practical English Usage" it's clearly stated :
We do not normally use "could" to say that somebody managed to do something on one ocassion, instead we use "was able" , "managed" , "succeeded" etc." . In the next passage Swan gives exceptions to this and gives list of verbs which can be used with "could" to denote ability to do something. Those verbs are : "see" , "taste" ,"understand", "feel" , "hear" "smell" and "guess" . He also says that "..we use "could" for "general ability" to say that somebody could do something at any time,whenever he/she wanted. In negative clauses to denote inability i.e "couldn't"+ verb, it can be freely used in this sense.
Would you please check the three varieties of the following sentence so I can reduce a bit a confusion about this point.

For example,not having a can opener, I've just opened a can of tuna fish with a knife and I'm kind of joking with my friend :
I could have opened it with a fork as well.
or
I could open it with a fork as well.
or
I was able to open it with a fork as well.
Thank you very much for your help