If the original mattress is in good condition and you could sleep on it and get a good rest, then a memory foam topper will do it.
The mattress in our rig was so bad that we just junked it and bought an 8" foam mattress, made up of 3 layers, 4" high density foam, 2" medium density foam, with the top 2" being memory foam.
We like it so much that when they go on sale again we'll be replacing the mattress on our bed at home with on.
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