ModalViewControllerをNavigationBar付きで表示させる

新しくUINavigationControllerを作成するのが肝。
let storyboard = UIStoryboard(name: "Storyboardの名前", bundle: nil)
let vc = storyboard.instantiateViewControllerWithIdentifier("ViewControllerのIdentifier") as UIViewController

let navigationController = UINavigationController(rootViewController: vc)
self.presentViewController(navigationController, animated: true, completion: nil)

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