There is no way you could have gotten HIV from the encounter you described. Sex with a condom is called protected sex with a reason. HIV cannot go through latex. You are not at risk.
Also, wanted to add, the chances the prostitute had HIV (if you are in the US or Canada) is very low.
but what about the fact that my skin was irritated to the point of minor bleeding earlier that day and that her vaginal fluid came in contact with that irritated skin (if she was infected)?
Even if your penis was irritated, if it was not bleeding at the time the vaginal fluid came in contact with it, you aren't really at risk.
any stats on percentage of infected prostitutes in u.s.?
HIV isn't a game of chance. You want to play chances or odds go to the horse track. Use a condom correctly and consistently each and every time and you won't have a risk.