No. (You can't even directly upgrade Windows XP to Windows 7 or 8).
The only way you can get an XP computer to load Windows 10 is to wipe everything off it, pay for Windows 10 and start again.
Even then you might have problems though, as computers running XP are unlikely to have sufficient memory to run Windows 10. (Officially you need 2Gb but the technical press are recommending a minimum of 4Gb if you don't want Windows 10 to run very slowly).
You could also have problems with there being no Windows 10 drivers for older hardware (and/or with the speed of the processor in your computer).
If I'd still got a computer running XP (and I was still in my usual impecunious state), I'd forget about Windows 10 and get myself a cheap refurbished Windows 7 computer from here:
http://www.accomputerwarehouse.com/products/computing/refurbished-computers
(which is where my present refurbished Window 7 computer came from. I can't recommend that supplier highly enough - excellent products and service).