Three officers with the Lake Mary (FL) Police Department have been cleared of wrongdoing in the fatal shooting of a man who pointed a gun at them in the parking lot of a shopping center in May.

Three officers—Martin A. Neal, Robert Ritter and William Rodwick—were lawful when they shot and killed 34-year-old David Romansky, prosecutors said after reviewing a report by the Florida Department of Law Enforcement.

According to the Orlando Sentinel, Romansky’s brother—Christopher Romansky—believed his brother "planned" the attack.

"He [David Romansky] was going to pull a gun on officers and they were going to do what they were trained to do," Christopher Romansky said.