No. He never expressly gave a command to kill the Jews or shared his plans with the German public, although he did not hide his anti-semitism. He had three plans before coming up with the final solution. One was shipping the Jews to Madasgar. This would have been fairly easy as France controlled Madgascar and Germany had conquered France. Another option would be shipping them off to Israel (then Palastine). This would have been more difficult as England controlled Palestine at the time. A third option would be ship them off to Siberia where they would starve to death--Hitler was a big fan of starving people to death. His plan for the Soviets was also to ship them off to Siberia and starve them to death. He was not able to do this, as the Red Army won the Great Patriotic War aka the Eastern Front of the Second World War.

Himmler knew what Hitler wanted, even though Hitler never gave Himmler the command. The Final Solution was revealed to the German military command at the Wannsee conference of January 1942. A conference neither Hitler or Himmler attended. Most of this comes from Ian Kershaw's Hitler: A Biography--the abridged version. Some from the BBC movie Conspiracy, which is based on the only surviving transcript of the minutes from the Wannsee conference.

This is a question that historians in the 1980s were very interested in. Not necessarily about if Hitler "portrayed his full plan...from the beginning," because he definitely did not speak about the full nature of the Holocaust at any point. Instead, they were interested in whether the Holocaust occurred from a planned escalation or whether it was through developments "on the ground" so to speak.

I suggest This AskHistorians Podcast. It deals directly with this question and also helps give a very clear understanding of the Holocaust.