如何使用我的路由类创建动态php路由？ （PHP）

I want to make a link to go to a url that is dynamically made, but I don't know how to do this with my code. Here is my Router class `

class Router
{
    public $routes = [
        'GET' => [],
        'POST' => []
    ];

    public static function load($file)
    {
        $router = new static;

        require $file;

        return $router;
    }

    public function get($uri, $controller)
    {
        $this->routes['GET'][$uri] = $controller;
    }

    public function post($uri, $controller)
    {
        $this->routes['POST'][$uri] = $controller;
    }

    public function direct($uri, $requestType)
    {
        if (array_key_exists($uri, $this->routes[$requestType])) {
            return $this->routes[$requestType][$uri];
        }

        throw new Exception('No route defined for this URI.');
    }
}

and here is my routes page

<?php

$router->get('', 'controllers/index.php');

$router->get('message', 'controllers/message.php');

$router->get('loginForm', 'controllers/loginForm.php');

$router->get('register', 'controllers/register.php');

on my page with my html I put an link with a dynamic link href='displayPost<?php echo $image->id; ?> but I'm not sure how to add that $image->id; part into my router list and class to make dynamic url's.