私が見つけた解決策は次のとおりです。
// Start Side Bar
window = UIWindow()
// ViewControllers
let frontViewController = content_feed() // Visible by default
let rearViewController = sidebar_menu() // Sidebar when user slides left
let frontNavigationController = UINavigationController.init(rootViewController: frontViewController)
let rearNavigationController = UINavigationController.init(rootViewController: rearViewController)
let revealController = SWRevealViewController.init(rearViewController: rearNavigationController, frontViewController: frontNavigationController)
revealController.delegate = self
// SWRevealViewController Settings
revealController.rightViewRevealOverdraw = 0.0
revealController.bounceBackOnOverdraw = false
revealController.stableDragOnOverdraw = true
// Tell Window to set revealController as our main VC
window?.rootViewController = revealController
window!.frame = UIScreen.mainScreen().bounds
window?.makeKeyAndVisible()