This is what I did and I called it cosleeping/bedsharing.
Purely from a safety perspective, I would err on the side of thinking of yourself as cosleeping, so you're more likely to adjust your habits for safe bedsharing. Have one firmer pillow up high, no super fluffy pillow top mattress, keep your blankets tucked around your knees, and wear tighter fitting clothes and pull long hair back. So baby is in effect sleeping on a firm, flat surface with a tight fitting sheet, plus you next to him. I think it's more dangerous to "accidentally" fall asleep every night with the baby in your bed or in the glider, and not adjust your sleeping habits to follow safety guidelines.
General rules for safe bedsharing from LLL:
http://breastfeeding.support/wp-content/uploads/2014/12/Safe_Sleep_7_leaflet-w.jpg