This is a six minute tutorial on how to use The Premack Principle to build focus in your dog even in high distraction environments. It's very much a zen exercise for the human actually: in order to get the dog, you must release the dog. :)
Certainly, you would only want to try something like this in a situation that was safe for your dog. Allowing her to chase squirrels along a busy highway, for example, or to go greet a dog-aggressive dog, or jump on 80 year old aunt Tildy (even though she may REALLY want to) probably wouldn't be the best idea.
This video also provides a good comparison between a dog taught to come when called using 100% positive reinforcement (notably the one who stays focused almost the entire session) and a dog who has had mild but still aversive experiences when called in the past.
Premack and the shaping of "come and reorient" as a voluntary default behavior work well here to mitigate the effects of a poison cue.