Is the getTransform function in rigidBodyTree working base on DH method?

Hello,

I'll go straight to my problem.

I'm using Robotics System Toolbox (ver. 2020b). I load a robot by using

[robotKUKA,robotData] = loadrobot("kukaIiwa14","DataFormat","column");

Then getting a random configuration by

config = randomConfiguration(robotKUKA);

And use the following code to get transform matrix from body 2 frame to body 1 frame

transform2 = getTransform(robotKUKA,config,'iiwa_link_2','iiwa_link_1')

transform2 = 4×4

0.0464 0.9989 -0.0000 0 -0.0000 0.0000 1.0000 0 0.9989 -0.0464 0.0000 0.2025 0 0 0 1.0000

From the result above, I found that this matrix isn't a form of transform matrix when using both DH and Modified DH Method.

My questions are

1. What is the transmission matrix theory of getTransform? Is it DH or Modified DH method?
2. What is the rules of building the body frame of the robots which can import from the loadrobot function? If the body frame building uses DH or Modified DH method, how can I get the DH parameter of this predefined robot?

Thank you.