Thank you for your question.
You said you were using condoms during this encounter and since condoms are a very effective way to prevent HIV infections, I do not think that you have anything to worry about.
But if the condom came off while you were having sex and this woman was HIV positive then there is some risk (even if you did not have a cut on your foreskin) and the only way to know if an infection happened is to get tested.
If you think that you need to get tested please check out our Clinic finder option for a clinic in your area.
Please leave a comment to let us know if this answers your question or if you need more information.
For other readers, please feel free to leave a comment, or let us know if this was helpful.