Odds of a one time safe sex event is very low. No one can tell you %. A guess is <5%. Condoms provide approx. 50% protection against HPV because they don't cover scrotum, thighs, buttocks or the base of the penis. HPV is a genital skin disease. Condoms provide 97% protection against HIV because the virus lives in fluids.
Since men cannot be tested, you will never know but the odds are extremely low. Most people do not think they have something that has not been diagnosed by a doctor. You should proceed as if you don't have it but with the understanding that there is no way to say that for sure.
Use this as a lesson. Every partner you sleep with (in your entire life) is a 20% chance of getting HPV. A CSW has slept with 100s of partners. How can they not be infected with something if condoms provide so little protection? Even if they got a clean pap result a month ago, what about the men they slept with last week? Most women get tested once a year, maybe twice a year. You are only as clean as your last test (any STD). HPV is one of those STDs that can appear years/decades after a sex act although this is very rare. No one can play detective with HPV and say one sex act or one partner gave it to them.
I totally agree with veryworried420's comment.
In addition, if you're worried about getting HPV in the future you could consider getting the Gardasil vaccine which protects against the 2 main genital warts types and 2 main cancer causing types of HPV found. Many women are being vaccinated in developed countries but for a price men can also have the vaccine.
I've had genital warts and it wasn't pleasant getting rid of them. My lesson was to try and slow down and try and stick to non-casual sex with only partners you're really dating etc. At least if they'd had HPV if you're romantically involved they might also disclose to you first if they have had HPV or anything worse.