Acados control parameterization over one time step

Hi :wave:
When integrating the dynamics in acados, how is the control input parameterized over a single time step? Do you assume zero-order hold, or linear interpolation, or something else?

by default, we use piecewise constant control inputs on each shooting interval.
I am currently working on implementing more advanced control parametrizations in acados.
An example is already public here: acados/examples/acados_python/time_varying/ at master ยท acados/acados ยท GitHub

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Is the control value at the end of one interval constrained to equal the control value at the start of the next interval?