set div height using jquery (stretch div height)

I have 3 divs with ids header, content and footer. Header and footer has fixed height and they are styled to float on top and bottom. I want the middle content height calculated automatically with jquery. How can I make this possible??

#header {
    height: 35px;
    width: 100%;
    position: absolute;
    top: 0px;
    z-index: 2;
}
#footer {
    height: 35px;
    width: 100%;
    position: absolute;
    bottom: 0px;
    z-index: 2;
}