Witnesses said a plainclothes officer shot and killed an unarmed man wearing nothing but swimming trunks in Kasota Monday afternoon.

On Tuesday, a spokesperson for the Bureau of Criminal Apprehension, Andy Skoogman, identified the shooting victim as Tyler Heilman, 24.

Skoogman also identified the officer as Todd Waldron, 37. Waldron is a 10-year veteran of the Le Sueur County Sheriff's Office. Waldron was promoted to investigator in 2004.

Officials said Waldron saw Heilman driving erratically and started following him. He followed Heilman for about 20 minutes and witnessed him drive off the road and up a steep embankment.

Officials said Waldron called for backup, but before the marked car arrived, Waldron confronted Heilman in the parking lot of the Valley View Apartments at the intersection of S. Ridgely Road and E. Wood Street.

Kris Hoehn, who was with Heilman at the complex, said Heilman and Waldron fought. He said Waldron never identified himself as a law enforcement officer.

"If he would have identified himself and said, 'Hey, I'm an officer' and said, 'Hey, listen to me this is what's going on,' my friend would have stopped," Hoehn said.

Hoehn said Heilman eventually did realize that Waldron was an officer.

"Tyler got on top of him, seen that he had a badge finally, stepped back like this and the guy sprung up and fired three shots," Hoehn said.

Officials confirmed that Waldron was driving an unmarked vehicle and not wearing a uniform, but they said he had a badge on his sidearm and on his belt. They did not comment on whether or not Waldron identified himself.

Waldron is on standard paid administrative leave while the Bureau of Criminal Apprehension and Le Sueur County Sheriff's Department conduct an investigation.

So far evidence shows four shots were fired.

A records check showed Heilman had 17 convictions in Nicollet, LeSueur and Blue Earth Counties between 2002 and 2008. The crimes range from littering and driving with a suspended license to underage consumption, disorderly conduct, assault and possession of marijuana.

The Ramsey County Medical Examiner will be conducting an autopsy on Heilman.

Kasota is approximately 80 miles southwest of the Twin Cities.

Anyone with information about this case is asked to contact the BCA at (877) 996-6222.