An epitaph is a short poem remembering the life of someone who has died. Like elegies they are commemorative. Epitaphs are shorter than eleigies and are used on gravestones.
This example can be found on John Donne's gravestone:
John Donne (1572-1631)
Reader, I am to let thee know,
Donne's body only lies below;
For could the grave his soul comprise,
Earth would be richer than the skies.