I know this isn't ideal, but I really didn't want to have a magic number constant anywhere. What I did was create a throwaway UITabBarController, and get the height from there.
I did this also because [UITabBar initWithFrame:] works as desired, but doing a [bar setFrame:] doesn't. I needed the frame to be correct at creation.
UITabBarController *dtbc = [[[UITabBarController alloc] init] autorelease];
CGRect tabRect = [[[self navigationController] view] frame];
tabRect.origin.y = tabRect.size.height - [[dtbc tabBar] frame].size.height;
tabRect.size.height = [[dtbc tabBar] frame].size.height;
tabBar_ = [[UITabBar alloc] initWithFrame:tabRect];
What I like about this is that it will correctly place the tab bar at the bottom of the parent regardless of the parents size.