Model can be a entity, but strictly, model is entity with business logic inside. for simple system, model is a entity.
Mapper is a way used to deal with Object persistence in RDBMS, it's a tool to convert each other between object properties and row columns.
Hydrator is a tool to exchange data between datasource and objects (models or entities), the datasource can be a RDBMS or something else (Web Service, NoSQL etc.).
Mappers contain more detail solutions on persistance by RDBMS, such as, Lazy loading, Caching, transaction and so on.
TableGateway is an abstracting with DB tables, but tables is often not the persistence of real world objects, it provides us a way of access relation data in an OOP style.