If your version doesn't have DECODE(), you can also use this:
INSERT INTO B (id, code1_val, code2_val, code3_val)
WITH Ids (id) as (SELECT DISTINCT id
FROM A) -- Only to construct list of ids
SELECT Ids.id, a1.value, a2.value, a3.value
FROM Ids -- or substitute the actual id table
JOIN A a1
ON a1.id = ids.id
AND a1.code = 1
JOIN A a2
ON a2.id = ids.id
AND a2.code = 2
JOIN A a3
ON a3.id = ids.id
AND a3.code = 3
(Works on my V6R1 DB2 instance, and have an SQL Fiddle Example).