Is there a performance difference between a for loop and a for-each loop?

From Item 46 in Effective Java by Joshua Bloch :

The for-each loop, introduced in
release 1.5, gets rid of the clutter
and the opportunity for error by
hiding the iterator or index variable
completely. The resulting idiom
applies equally to collections and
arrays:

// The preferred idiom for iterating over collections and arrays
for (Element e : elements) {
    doSomething(e);
}

When you see the colon (:), read it as
“in.” Thus, the loop above reads as
“for each element e in elements.” Note
that there is no performance penalty
for using the for-each loop, even for
arrays. In fact, it may offer a slight
performance advantage over an ordinary
for loop in some circumstances, as it
computes the limit of the array index
only once. While you can do this by
hand (Item 45), programmers don’t
always do so.