If you are sleeping on a surface that is uncomfortable, your unconscious psyche will always process this discomfort and you will feel stressful even when you are sleeping. As a result, when you wake up you will not feel rested and this would become a chronic condition. Long-term effects of sleeping on uncomfortable surfaces include anxiety, tension, confusion, stress, etc.
But if you have a comfortable mattress, preferably a memory foam mattress, your quality of sleep has chances to improve substantially. And the absolute removal of stress will ensure that you stay healthy and feel completely rested upon waking up.