LOS ANGELES (CBSLA.com) — The Los Angeles Police Commission has ruled that officers were justified in using lethal force in connection with the shooting death of a homeless man on Skid Row.

In unanimous votes, the department ruled the officers involved in the fatal shooting of Charley Keunang acted within policy in four of five areas including the drawing and exhibition of a weapon; non-lethal use of force; less-lethal use of force; and lethal use of force.

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The Police Commission found, however, one of the officers involved violated policy with regards to the tactics used on Keunang.

A witness captured the controversial shooting on camera last March.

The video showed a group of officers getting into a scuffle with Keunang after reports of a robbery. At one point, Keunang allegedly appeared to try and grab an officer’s gun.

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“This loss of Mr. Keunang is nothing short of a tragedy for the family, relatives, loved ones, friends, the community of Skid Row, and the involved police officers.

“To the family and friends of Mr. Keunang, my fellow Police Commissioners and I extend our sincere sympathies for your profound loss,” said Police Commission President Matthew Johnson in a statement.

Keunang was 39.

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The report states the Commission’s review and decision comes at the end of an 11-month intense investigation completed by the LAPD’s Force Investigation Division.