Constant matrix multiplication (CMM), i.e., the multiplication of a constant matrix with a vector, is a common operation in digital signal processing. It is a generalization of multiple constant multiplication (MCM) where a single variable is multiplied by a constant vector. Like MCM, CMM can be reduced to additions/subtractions and bit shifts. Finding a circuit with minimal number of add/subtract operations is known as the CMM problem. While this leads to a reduction in circuit area it may be less efficient for power consumption or throughput. It is well studied for the MCM problem that a) reducing the adder depth (AD) leads to a reduced power consumption and b) pipeline resources have to be considered during optimization to enhance throughput without wasting area. This paper addresses the optimization of CMM circuits which considers both adder depth and pipelining for the first time. For that, a heuristic is proposed which evaluates the most attractive graph topologies. It is shown that the proposed method requires 12.5% less adders with min. AD and 38.5% less pipelined operations. Synthesis results for recent FPGAs show that these reductions also translate to superior results in terms of delay and power consumption compared to the state-of-the-art.