Nothing out of the box.
You could use my multiview plugin, which is in the works. I'm finishing the navigation and panel history right now. Plus fixing everything for tablet/smartphone view. If you don't mind the bugs still in there for now it would be ready to use (please post issues on Github).
Here is one sample page I'm working currently testing with: sample-overthrow
This view locks the screen and scrolls each panel separately using overthrow. Nothing to configure except add data-scrollmode="overthrow" to the wrapper page. Check the HTML to see how its set up. Also beware, this is my first attempt at integrating Overthrow and it's not very smooth yet.
in which the whole page scrolls like a regular JQM page. This is the default behavior.
You can use 1/2/3 panels side by side (need to label them "menu", "mid" and "main", I'm removing "fullwidth" from the code - used in previous versions), so if you only want a "navbar/sidebar" on the side, just use a menu with ... 50px width and put your toolbar in there. The main panel should scale automatically to fill the screen. I also started on a yield-mode which allows to slide in/out the toolbar. Haven't got around to finishing this yet.