NavigationSample.swift

import UIKit
import PlaygroundSupport

class SampleController: UIViewController {
    
    init() {
        super.init(nibName: nil, bundle: nil)
        title = "Sample View"
        view = UIView()
        view.backgroundColor = UIColor.green
        
        let topView = UIView()
        topView.translatesAutoresizingMaskIntoConstraints = false
        topView.backgroundColor = UIColor.red
        view.addSubview(topView)
        view.addConstraints([
            NSLayoutConstraint(item: topView, attribute: .top, relatedBy: .equal, toItem: topLayoutGuide, attribute: .bottom, multiplier: 1.0, constant: 0.0),
            NSLayoutConstraint(item: topView, attribute: .left, relatedBy: .equal, toItem: view, attribute: .left, multiplier: 1.0, constant: 0.0),
            NSLayoutConstraint(item: topView, attribute: .right, relatedBy: .equal, toItem: view, attribute: .right, multiplier: 1.0, constant: 0.0),
            NSLayoutConstraint(item: topView, attribute: .height, relatedBy: .equal, toItem: nil, attribute: .height, multiplier: 1.0, constant: 40.0)
        ])
        
        let bottomView = UIView()
        bottomView.translatesAutoresizingMaskIntoConstraints = false
        bottomView.backgroundColor = UIColor.blue
        view.addSubview(bottomView)
        view.addConstraints([
            NSLayoutConstraint(item: bottomView, attribute: .top, relatedBy: .equal, toItem: topView, attribute: .bottom, multiplier: 1.0, constant: 0.0),
            NSLayoutConstraint(item: bottomView, attribute: .left, relatedBy: .equal, toItem: view, attribute: .left, multiplier: 1.0, constant: 0.0),
            NSLayoutConstraint(item: bottomView, attribute: .right, relatedBy: .equal, toItem: view, attribute: .right, multiplier: 1.0, constant: 0.0),
            NSLayoutConstraint(item: bottomView, attribute: .bottom, relatedBy: .equal, toItem: bottomLayoutGuide, attribute: .top, multiplier: 1.0, constant: 0.0)
        ])
    }
    
    required init?(coder aDecoder: NSCoder) {
        fatalError("init(coder:) has not been implemented")
    }
}

let navigationController = UINavigationController()
navigationController.viewControllers = [SampleController()]

PlaygroundPage.current.liveView = navigationController.view