When in-game, the minimap shows icons which reflect the unit and weapon types, in the color of the player's team color and according to the following chart:
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Color Codes
At the top of each unit build-picture there's a color-coded bar according to the unit category. This allows you to quickly identify the unit type in the bottom selection bar, when different units are selected (eg.: Ctrl+Shift+A to select all units). Follows TA Prime's unit category color code table: