Does Aligator MPC only support receding horizon strategy?

[Zionshang]

I would like to ask whether Aligator's MPC implementation only supports the receding horizon strategy (as shown in figure). I’m concerned that this may cause the following issues in certain real-time robotics scenarios:

1. Timing mismatch between the MPC discretization and solver frequency
   For example, if the MPC discretization timestep is set to 15 ms, but the solver is called at 100 Hz (i.e., every 10 ms), the horizon may recede inconsistently.

2. Response delay caused by horizon structure
   Since new steps can only enter at the end of the horizon, any change in contact timing (e.g., early or late foot touchdown) cannot be immediately reflected in the current step's constraints.