Milwaukee- A Milwaukee police officer shot and killed a 43-year-old man Friday at 10:26 a.m. after he charged the officer and tried to take his weapon from him.

David Boone who was riding a bike in the area of 47th and Center was stopped by two Milwaukee police officer for questioning. The reason for the questioning was not released. As officer's approached Boone he took off. One officer went after him on foot as the other officer remained in the squad car.

Boone was found a few blocks away where at that point he threw his bike down and charged the officer, according to the reports.

As the two struggled the officer's gun discharged. Boone at that point took off running again.  A block away Boone was found in a back yard. As the officer approached him,  Boone charged the officer again, where at that point the officer shot and killed Boone.

The officer who works out of district #7 is 40-years-old and has 10-years on the force.

Boone had warrants issued for his arrest on Jan. 5 for four felonies: three counts of second-degree sexual assault of a child and one count of causing a child younger than 13 to view explicit material, according to police.