Have clamp throw a DomainError if interval is poorly defined

One possible solution to #8006 
`DomainError` does not have a text field (apparently for efficiency for sqrt), so unless we use a `ArgumentError` instead, the only thing we can do, is to add more cases for printing `DomainError` in [base/replutil.jl](https://github.com/JuliaLang/julia/blob/53991dd9e9cf821e0959678e93dfec72b8c0402d/base/replutil.jl#L84)