exist any Function to allow userid edit postid

There is no built-in function for this.
You may write your own. Hook it to the ‘map_meta_cap’ filter, fired at
wp-includes/capabilities.php, line # 1429
Parameters for your function are $caps, $cap, $user_id, $args
Post ID value will be it the $args[0], if available.

You should modify and return $caps array, remove ‘do_not_allow’ item and add ‘edit_posts’ or ‘edit_others_posts’, possibly adding $cap will be enough.